14.573 * [progress]: [Phase 1 of 3] Setting up. 0.001 * * * [progress]: [1/2] Preparing points 0.105 * * * [progress]: [2/2] Setting up program. 0.109 * [progress]: [Phase 2 of 3] Improving. 0.109 * [simplify]: Simplifying: (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) 0.109 * * [simplify]: Extracting # 0 : cost 0 0.109 * * [simplify]: Extracting # 1 : cost 0 0.109 * * [simplify]: Extracting # 2 : cost 0 0.109 * * [simplify]: Extracting # 3 : cost 0 0.109 * * [simplify]: Extracting # 4 : cost 0 0.109 * * [simplify]: Extracting # 5 : cost 0 0.109 * * [simplify]: Extracting # 6 : cost 0 0.109 * * [simplify]: Extracting # 7 : cost 0 0.109 * * [simplify]: Extracting # 8 : cost 0 0.109 * * [simplify]: Extracting # 9 : cost 0 0.109 * * [simplify]: Extracting # 10 : cost 0 0.109 * * [simplify]: Extracting # 11 : cost 0 0.109 * * [simplify]: Extracting # 12 : cost 0 0.109 * * [simplify]: iteration 0 : 17 enodes (cost 32 ) 0.112 * * [simplify]: Extracting # 0 : cost 0 0.112 * * [simplify]: Extracting # 1 : cost 0 0.112 * * [simplify]: Extracting # 2 : cost 0 0.113 * * [simplify]: iteration 1 : 34 enodes (cost 16 ) 0.119 * * [simplify]: Extracting # 0 : cost 0 0.119 * * [simplify]: Extracting # 1 : cost 0 0.119 * * [simplify]: Extracting # 2 : cost 0 0.119 * * [simplify]: iteration 2 : 76 enodes (cost 16 ) 0.141 * * [simplify]: Extracting # 0 : cost 0 0.142 * * [simplify]: Extracting # 1 : cost 0 0.142 * * [simplify]: Extracting # 2 : cost 0 0.142 * * [simplify]: iteration 3 : 257 enodes (cost 16 ) 0.606 * * [simplify]: Extracting # 0 : cost 0 0.606 * * [simplify]: Extracting # 1 : cost 0 0.607 * * [simplify]: Extracting # 2 : cost 0 0.608 * * [simplify]: iteration 4 : 826 enodes (cost 16 ) 1.466 * * [simplify]: Extracting # 0 : cost 0 1.470 * * [simplify]: Extracting # 1 : cost 0 1.478 * * [simplify]: Extracting # 2 : cost 0 1.481 * * [simplify]: Extracting # 3 : cost 0 1.483 * * [simplify]: Extracting # 4 : cost 0 1.485 * * [simplify]: iteration 5 : 2355 enodes (cost 16 ) 4.373 * * [simplify]: Extracting # 0 : cost 0 4.378 * * [simplify]: Extracting # 1 : cost 0 4.382 * * [simplify]: Extracting # 2 : cost 0 4.392 * * [simplify]: Extracting # 3 : cost 0 4.396 * * [simplify]: Extracting # 4 : cost 0 4.400 * * [simplify]: Extracting # 5 : cost 0 4.403 * * [simplify]: iteration done: 5000 enodes (cost 16 ) 4.403 * [simplify]: Simplified to: (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R) 4.408 * * [progress]: iteration 1 / 4 4.408 * * * [progress]: picking best candidate 4.411 * * * * [pick]: Picked # 4.411 * * * [progress]: localizing error 4.428 * * * [progress]: generating rewritten candidates 4.428 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 1 2) 4.439 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 1) 4.475 * * * * [progress]: [ 3 / 4 ] rewriting at (2) 4.482 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1) 4.483 * * * [progress]: generating series expansions 4.483 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 1 2) 4.484 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1))) 4.484 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0 4.484 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.484 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.484 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.484 * [backup-simplify]: Simplify 0.5 into 0.5 4.484 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.484 * [taylor]: Taking taylor expansion of phi2 in phi2 4.484 * [backup-simplify]: Simplify 0 into 0 4.484 * [backup-simplify]: Simplify 1 into 1 4.484 * [taylor]: Taking taylor expansion of phi1 in phi2 4.484 * [backup-simplify]: Simplify phi1 into phi1 4.484 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.484 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.484 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.484 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.484 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.484 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.484 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.484 * [backup-simplify]: Simplify 0.5 into 0.5 4.484 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.484 * [taylor]: Taking taylor expansion of phi2 in phi1 4.484 * [backup-simplify]: Simplify phi2 into phi2 4.484 * [taylor]: Taking taylor expansion of phi1 in phi1 4.484 * [backup-simplify]: Simplify 0 into 0 4.484 * [backup-simplify]: Simplify 1 into 1 4.484 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.484 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.484 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.484 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.484 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.484 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.485 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.485 * [backup-simplify]: Simplify 0.5 into 0.5 4.485 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.485 * [taylor]: Taking taylor expansion of phi2 in phi1 4.485 * [backup-simplify]: Simplify phi2 into phi2 4.485 * [taylor]: Taking taylor expansion of phi1 in phi1 4.485 * [backup-simplify]: Simplify 0 into 0 4.485 * [backup-simplify]: Simplify 1 into 1 4.485 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.485 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.485 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.485 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.485 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.485 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.486 * [backup-simplify]: Simplify (- 0) into 0 4.486 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.486 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.486 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.486 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.486 * [backup-simplify]: Simplify 0.5 into 0.5 4.486 * [taylor]: Taking taylor expansion of phi2 in phi2 4.486 * [backup-simplify]: Simplify 0 into 0 4.486 * [backup-simplify]: Simplify 1 into 1 4.486 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.487 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.487 * [backup-simplify]: Simplify 1 into 1 4.488 * [backup-simplify]: Simplify (+ 0) into 0 4.488 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.488 * [backup-simplify]: Simplify (+ 0 1) into 1 4.489 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.491 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.491 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.491 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.491 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 4.491 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 4.491 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.491 * [backup-simplify]: Simplify 0.5 into 0.5 4.491 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 4.492 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.492 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.492 * [backup-simplify]: Simplify 0.5 into 0.5 4.492 * [taylor]: Taking taylor expansion of phi2 in phi2 4.492 * [backup-simplify]: Simplify 0 into 0 4.492 * [backup-simplify]: Simplify 1 into 1 4.492 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.493 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.494 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.494 * [backup-simplify]: Simplify (- 0) into 0 4.494 * [backup-simplify]: Simplify 0 into 0 4.494 * [backup-simplify]: Simplify (+ 0) into 0 4.494 * [backup-simplify]: Simplify 0 into 0 4.497 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 4.498 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 4.499 * [backup-simplify]: Simplify (+ 0 0) into 0 4.499 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 4.500 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.501 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 4.501 * [backup-simplify]: Simplify (- 0) into 0 4.502 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 4.502 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 4.502 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 4.502 * [taylor]: Taking taylor expansion of 0.125 in phi2 4.502 * [backup-simplify]: Simplify 0.125 into 0.125 4.502 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.502 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.502 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.502 * [backup-simplify]: Simplify 0.5 into 0.5 4.502 * [taylor]: Taking taylor expansion of phi2 in phi2 4.502 * [backup-simplify]: Simplify 0 into 0 4.502 * [backup-simplify]: Simplify 1 into 1 4.502 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.504 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.504 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 4.505 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 4.505 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 4.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.509 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 4.509 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 4.509 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 4.510 * [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)))) 4.511 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.511 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 4.511 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.511 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.511 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.511 * [backup-simplify]: Simplify 0.5 into 0.5 4.511 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.511 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.511 * [taylor]: Taking taylor expansion of phi1 in phi2 4.511 * [backup-simplify]: Simplify phi1 into phi1 4.511 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.511 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.511 * [taylor]: Taking taylor expansion of phi2 in phi2 4.511 * [backup-simplify]: Simplify 0 into 0 4.511 * [backup-simplify]: Simplify 1 into 1 4.511 * [backup-simplify]: Simplify (/ 1 1) into 1 4.512 * [backup-simplify]: Simplify (+ 0 1) into 1 4.512 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.512 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.513 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.513 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.513 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.513 * [backup-simplify]: Simplify 0.5 into 0.5 4.513 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.513 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.513 * [taylor]: Taking taylor expansion of phi1 in phi1 4.513 * [backup-simplify]: Simplify 0 into 0 4.513 * [backup-simplify]: Simplify 1 into 1 4.513 * [backup-simplify]: Simplify (/ 1 1) into 1 4.513 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.513 * [taylor]: Taking taylor expansion of phi2 in phi1 4.513 * [backup-simplify]: Simplify phi2 into phi2 4.513 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.514 * [backup-simplify]: Simplify (+ 1 0) into 1 4.514 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.514 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.514 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.514 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.514 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.514 * [backup-simplify]: Simplify 0.5 into 0.5 4.515 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.515 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.515 * [taylor]: Taking taylor expansion of phi1 in phi1 4.515 * [backup-simplify]: Simplify 0 into 0 4.515 * [backup-simplify]: Simplify 1 into 1 4.515 * [backup-simplify]: Simplify (/ 1 1) into 1 4.515 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.515 * [taylor]: Taking taylor expansion of phi2 in phi1 4.515 * [backup-simplify]: Simplify phi2 into phi2 4.515 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.516 * [backup-simplify]: Simplify (+ 1 0) into 1 4.516 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.516 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.516 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.517 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.517 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.517 * [backup-simplify]: Simplify 0.5 into 0.5 4.517 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.517 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.517 * [taylor]: Taking taylor expansion of phi1 in phi2 4.517 * [backup-simplify]: Simplify phi1 into phi1 4.517 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.517 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.517 * [taylor]: Taking taylor expansion of phi2 in phi2 4.517 * [backup-simplify]: Simplify 0 into 0 4.517 * [backup-simplify]: Simplify 1 into 1 4.517 * [backup-simplify]: Simplify (/ 1 1) into 1 4.518 * [backup-simplify]: Simplify (+ 0 1) into 1 4.518 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.518 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.518 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.519 * [taylor]: Taking taylor expansion of 0 in phi2 4.519 * [backup-simplify]: Simplify 0 into 0 4.519 * [backup-simplify]: Simplify 0 into 0 4.519 * [backup-simplify]: Simplify 0 into 0 4.519 * [taylor]: Taking taylor expansion of 0 in phi2 4.519 * [backup-simplify]: Simplify 0 into 0 4.519 * [backup-simplify]: Simplify 0 into 0 4.519 * [backup-simplify]: Simplify 0 into 0 4.519 * [backup-simplify]: Simplify 0 into 0 4.519 * [taylor]: Taking taylor expansion of 0 in phi2 4.519 * [backup-simplify]: Simplify 0 into 0 4.519 * [backup-simplify]: Simplify 0 into 0 4.519 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 4.519 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.519 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 4.519 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.519 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.519 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.519 * [backup-simplify]: Simplify -0.5 into -0.5 4.520 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.520 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.520 * [taylor]: Taking taylor expansion of phi1 in phi2 4.520 * [backup-simplify]: Simplify phi1 into phi1 4.520 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.520 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.520 * [taylor]: Taking taylor expansion of phi2 in phi2 4.520 * [backup-simplify]: Simplify 0 into 0 4.520 * [backup-simplify]: Simplify 1 into 1 4.520 * [backup-simplify]: Simplify (/ 1 1) into 1 4.521 * [backup-simplify]: Simplify (+ 0 1) into 1 4.521 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.521 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.521 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.521 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.521 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.521 * [backup-simplify]: Simplify -0.5 into -0.5 4.521 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.521 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.521 * [taylor]: Taking taylor expansion of phi1 in phi1 4.521 * [backup-simplify]: Simplify 0 into 0 4.521 * [backup-simplify]: Simplify 1 into 1 4.521 * [backup-simplify]: Simplify (/ 1 1) into 1 4.521 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.521 * [taylor]: Taking taylor expansion of phi2 in phi1 4.521 * [backup-simplify]: Simplify phi2 into phi2 4.521 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.522 * [backup-simplify]: Simplify (+ 1 0) into 1 4.522 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.522 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.522 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.522 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.522 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.522 * [backup-simplify]: Simplify -0.5 into -0.5 4.522 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.522 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.522 * [taylor]: Taking taylor expansion of phi1 in phi1 4.522 * [backup-simplify]: Simplify 0 into 0 4.522 * [backup-simplify]: Simplify 1 into 1 4.522 * [backup-simplify]: Simplify (/ 1 1) into 1 4.522 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.523 * [taylor]: Taking taylor expansion of phi2 in phi1 4.523 * [backup-simplify]: Simplify phi2 into phi2 4.523 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.523 * [backup-simplify]: Simplify (+ 1 0) into 1 4.523 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.523 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.523 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.523 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.523 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.523 * [backup-simplify]: Simplify -0.5 into -0.5 4.523 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.523 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.523 * [taylor]: Taking taylor expansion of phi1 in phi2 4.523 * [backup-simplify]: Simplify phi1 into phi1 4.523 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.523 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.523 * [taylor]: Taking taylor expansion of phi2 in phi2 4.524 * [backup-simplify]: Simplify 0 into 0 4.524 * [backup-simplify]: Simplify 1 into 1 4.524 * [backup-simplify]: Simplify (/ 1 1) into 1 4.524 * [backup-simplify]: Simplify (+ 0 1) into 1 4.524 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.524 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.525 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.525 * [taylor]: Taking taylor expansion of 0 in phi2 4.525 * [backup-simplify]: Simplify 0 into 0 4.525 * [backup-simplify]: Simplify 0 into 0 4.525 * [backup-simplify]: Simplify 0 into 0 4.525 * [taylor]: Taking taylor expansion of 0 in phi2 4.525 * [backup-simplify]: Simplify 0 into 0 4.525 * [backup-simplify]: Simplify 0 into 0 4.525 * [backup-simplify]: Simplify 0 into 0 4.525 * [backup-simplify]: Simplify 0 into 0 4.525 * [taylor]: Taking taylor expansion of 0 in phi2 4.525 * [backup-simplify]: Simplify 0 into 0 4.525 * [backup-simplify]: Simplify 0 into 0 4.525 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 4.525 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 1) 4.525 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) 4.525 * [approximate]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in (lambda1 lambda2 phi1 phi2) around 0 4.525 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi2 4.525 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 4.525 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.525 * [backup-simplify]: Simplify lambda1 into lambda1 4.525 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.525 * [backup-simplify]: Simplify lambda2 into lambda2 4.525 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.525 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.525 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.525 * [backup-simplify]: Simplify 0.5 into 0.5 4.525 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.525 * [taylor]: Taking taylor expansion of phi2 in phi2 4.525 * [backup-simplify]: Simplify 0 into 0 4.525 * [backup-simplify]: Simplify 1 into 1 4.525 * [taylor]: Taking taylor expansion of phi1 in phi2 4.525 * [backup-simplify]: Simplify phi1 into phi1 4.525 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.525 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.526 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.526 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.526 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi1 4.526 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 4.526 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.526 * [backup-simplify]: Simplify lambda1 into lambda1 4.526 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.526 * [backup-simplify]: Simplify lambda2 into lambda2 4.526 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.526 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.526 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.526 * [backup-simplify]: Simplify 0.5 into 0.5 4.526 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.526 * [taylor]: Taking taylor expansion of phi2 in phi1 4.526 * [backup-simplify]: Simplify phi2 into phi2 4.526 * [taylor]: Taking taylor expansion of phi1 in phi1 4.526 * [backup-simplify]: Simplify 0 into 0 4.526 * [backup-simplify]: Simplify 1 into 1 4.526 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.526 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.526 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.526 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.526 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda2 4.526 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 4.526 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.526 * [backup-simplify]: Simplify lambda1 into lambda1 4.526 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.526 * [backup-simplify]: Simplify 0 into 0 4.526 * [backup-simplify]: Simplify 1 into 1 4.526 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.526 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.526 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.526 * [backup-simplify]: Simplify 0.5 into 0.5 4.526 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.526 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.526 * [backup-simplify]: Simplify phi2 into phi2 4.526 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.526 * [backup-simplify]: Simplify phi1 into phi1 4.526 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.526 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.526 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.526 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.526 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 4.527 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 4.527 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.527 * [backup-simplify]: Simplify 0 into 0 4.527 * [backup-simplify]: Simplify 1 into 1 4.527 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.527 * [backup-simplify]: Simplify lambda2 into lambda2 4.527 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.527 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.527 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.527 * [backup-simplify]: Simplify 0.5 into 0.5 4.527 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.527 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.527 * [backup-simplify]: Simplify phi2 into phi2 4.527 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.527 * [backup-simplify]: Simplify phi1 into phi1 4.527 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.527 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.527 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.527 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.527 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 4.527 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 4.527 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.527 * [backup-simplify]: Simplify 0 into 0 4.527 * [backup-simplify]: Simplify 1 into 1 4.527 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.527 * [backup-simplify]: Simplify lambda2 into lambda2 4.527 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.527 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.527 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.527 * [backup-simplify]: Simplify 0.5 into 0.5 4.527 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.527 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.527 * [backup-simplify]: Simplify phi2 into phi2 4.527 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.527 * [backup-simplify]: Simplify phi1 into phi1 4.527 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.527 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.527 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.527 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.527 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 4.528 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 4.528 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.528 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.528 * [backup-simplify]: Simplify (- 0) into 0 4.528 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.528 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 4.528 * [taylor]: Taking taylor expansion of (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) in lambda2 4.528 * [taylor]: Taking taylor expansion of -1 in lambda2 4.528 * [backup-simplify]: Simplify -1 into -1 4.528 * [taylor]: Taking taylor expansion of (* lambda2 (cos (* 0.5 (+ phi2 phi1)))) in lambda2 4.528 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.528 * [backup-simplify]: Simplify 0 into 0 4.528 * [backup-simplify]: Simplify 1 into 1 4.528 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.528 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.528 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.528 * [backup-simplify]: Simplify 0.5 into 0.5 4.528 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.528 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.528 * [backup-simplify]: Simplify phi2 into phi2 4.528 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.528 * [backup-simplify]: Simplify phi1 into phi1 4.528 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.528 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.529 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.529 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.529 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.529 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.529 * [backup-simplify]: Simplify (- 0) into 0 4.529 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.529 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ phi2 phi1)))) into 0 4.529 * [backup-simplify]: Simplify (* -1 0) into 0 4.529 * [taylor]: Taking taylor expansion of 0 in phi1 4.529 * [backup-simplify]: Simplify 0 into 0 4.529 * [taylor]: Taking taylor expansion of 0 in phi2 4.529 * [backup-simplify]: Simplify 0 into 0 4.530 * [backup-simplify]: Simplify 0 into 0 4.530 * [backup-simplify]: Simplify (+ 0) into 0 4.530 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.530 * [backup-simplify]: Simplify (+ 0 0) into 0 4.531 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.531 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.532 * [backup-simplify]: Simplify (- 0) into 0 4.532 * [backup-simplify]: Simplify (+ 0 0) into 0 4.532 * [backup-simplify]: Simplify (- 0) into 0 4.532 * [backup-simplify]: Simplify (+ 1 0) into 1 4.533 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 4.533 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.533 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.533 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.533 * [backup-simplify]: Simplify 0.5 into 0.5 4.533 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.533 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.533 * [backup-simplify]: Simplify phi2 into phi2 4.533 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.533 * [backup-simplify]: Simplify phi1 into phi1 4.533 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.533 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.533 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.533 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.533 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.533 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.534 * [backup-simplify]: Simplify (- 0) into 0 4.534 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.534 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.534 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.534 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.534 * [backup-simplify]: Simplify 0.5 into 0.5 4.534 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.534 * [taylor]: Taking taylor expansion of phi2 in phi1 4.534 * [backup-simplify]: Simplify phi2 into phi2 4.534 * [taylor]: Taking taylor expansion of phi1 in phi1 4.534 * [backup-simplify]: Simplify 0 into 0 4.534 * [backup-simplify]: Simplify 1 into 1 4.534 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.534 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.534 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.534 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.535 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.535 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.535 * [backup-simplify]: Simplify (- 0) into 0 4.535 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.535 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.535 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.535 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.535 * [backup-simplify]: Simplify 0.5 into 0.5 4.535 * [taylor]: Taking taylor expansion of phi2 in phi2 4.535 * [backup-simplify]: Simplify 0 into 0 4.535 * [backup-simplify]: Simplify 1 into 1 4.536 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.537 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.537 * [backup-simplify]: Simplify 1 into 1 4.538 * [backup-simplify]: Simplify (+ 0) into 0 4.538 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.539 * [backup-simplify]: Simplify (+ 0 0) into 0 4.539 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.540 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.540 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.541 * [backup-simplify]: Simplify (- 0) into 0 4.541 * [backup-simplify]: Simplify (+ 0 0) into 0 4.541 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 4.542 * [backup-simplify]: Simplify (+ (* -1 (cos (* 0.5 (+ phi2 phi1)))) (* 0 0)) into (- (cos (* 0.5 (+ phi2 phi1)))) 4.542 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ phi2 phi1)))) in phi1 4.542 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.542 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.542 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.542 * [backup-simplify]: Simplify 0.5 into 0.5 4.542 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.542 * [taylor]: Taking taylor expansion of phi2 in phi1 4.542 * [backup-simplify]: Simplify phi2 into phi2 4.542 * [taylor]: Taking taylor expansion of phi1 in phi1 4.542 * [backup-simplify]: Simplify 0 into 0 4.542 * [backup-simplify]: Simplify 1 into 1 4.542 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.542 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.543 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.543 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.543 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.543 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.543 * [backup-simplify]: Simplify (- 0) into 0 4.543 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.543 * [backup-simplify]: Simplify (- (cos (* 0.5 phi2))) into (- (cos (* 0.5 phi2))) 4.543 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 phi2))) in phi2 4.543 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 4.543 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.543 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.544 * [backup-simplify]: Simplify 0.5 into 0.5 4.544 * [taylor]: Taking taylor expansion of phi2 in phi2 4.544 * [backup-simplify]: Simplify 0 into 0 4.544 * [backup-simplify]: Simplify 1 into 1 4.544 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.545 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.546 * [backup-simplify]: Simplify (- 1) into -1 4.546 * [backup-simplify]: Simplify -1 into -1 4.546 * [taylor]: Taking taylor expansion of 0 in phi2 4.546 * [backup-simplify]: Simplify 0 into 0 4.546 * [backup-simplify]: Simplify 0 into 0 4.546 * [backup-simplify]: Simplify 0 into 0 4.547 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.548 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 4.548 * [backup-simplify]: Simplify (+ 0 0) into 0 4.549 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 4.550 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.550 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 4.550 * [backup-simplify]: Simplify (- 0) into 0 4.551 * [backup-simplify]: Simplify (+ 0 0) into 0 4.551 * [backup-simplify]: Simplify (- 0) into 0 4.551 * [backup-simplify]: Simplify (+ 0 0) into 0 4.552 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 4.552 * [taylor]: Taking taylor expansion of 0 in lambda2 4.552 * [backup-simplify]: Simplify 0 into 0 4.552 * [taylor]: Taking taylor expansion of 0 in phi1 4.552 * [backup-simplify]: Simplify 0 into 0 4.552 * [taylor]: Taking taylor expansion of 0 in phi2 4.552 * [backup-simplify]: Simplify 0 into 0 4.552 * [backup-simplify]: Simplify 0 into 0 4.553 * [backup-simplify]: Simplify (+ 0) into 0 4.553 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.554 * [backup-simplify]: Simplify (+ 0 0) into 0 4.554 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.555 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.555 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.556 * [backup-simplify]: Simplify (- 0) into 0 4.556 * [backup-simplify]: Simplify (+ 0 0) into 0 4.556 * [taylor]: Taking taylor expansion of 0 in phi1 4.556 * [backup-simplify]: Simplify 0 into 0 4.556 * [taylor]: Taking taylor expansion of 0 in phi2 4.556 * [backup-simplify]: Simplify 0 into 0 4.556 * [backup-simplify]: Simplify 0 into 0 4.558 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.558 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 4.559 * [backup-simplify]: Simplify (+ 0 0) into 0 4.560 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 4.560 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.561 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 4.561 * [backup-simplify]: Simplify (- 0) into 0 4.562 * [backup-simplify]: Simplify (+ 0 0) into 0 4.563 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 4.563 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 (cos (* 0.5 (+ phi2 phi1)))) (* 0 0))) into 0 4.563 * [taylor]: Taking taylor expansion of 0 in phi1 4.563 * [backup-simplify]: Simplify 0 into 0 4.564 * [taylor]: Taking taylor expansion of 0 in phi2 4.564 * [backup-simplify]: Simplify 0 into 0 4.564 * [backup-simplify]: Simplify 0 into 0 4.564 * [backup-simplify]: Simplify (+ 0) into 0 4.564 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.565 * [backup-simplify]: Simplify (+ 0 1) into 1 4.565 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.574 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.574 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.574 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.574 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 4.574 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 4.574 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.574 * [backup-simplify]: Simplify 0.5 into 0.5 4.574 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 4.574 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 4.574 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.574 * [backup-simplify]: Simplify 0.5 into 0.5 4.574 * [taylor]: Taking taylor expansion of phi2 in phi2 4.574 * [backup-simplify]: Simplify 0 into 0 4.574 * [backup-simplify]: Simplify 1 into 1 4.575 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.576 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 4.577 * [backup-simplify]: Simplify (* 0.5 0) into 0 4.577 * [backup-simplify]: Simplify (- 0) into 0 4.577 * [backup-simplify]: Simplify 0 into 0 4.577 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* lambda2 1)))) (* 1 (* 1 (* 1 (* 1 lambda1))))) into (- lambda1 lambda2) 4.577 * [backup-simplify]: Simplify (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) into (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.577 * [approximate]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in (lambda1 lambda2 phi1 phi2) around 0 4.577 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.577 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 4.578 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 4.578 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.578 * [backup-simplify]: Simplify lambda1 into lambda1 4.578 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.578 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 4.578 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.578 * [backup-simplify]: Simplify lambda2 into lambda2 4.578 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.578 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.578 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.578 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.578 * [backup-simplify]: Simplify 0.5 into 0.5 4.578 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.578 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.578 * [taylor]: Taking taylor expansion of phi1 in phi2 4.578 * [backup-simplify]: Simplify phi1 into phi1 4.578 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.578 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.578 * [taylor]: Taking taylor expansion of phi2 in phi2 4.578 * [backup-simplify]: Simplify 0 into 0 4.578 * [backup-simplify]: Simplify 1 into 1 4.578 * [backup-simplify]: Simplify (/ 1 1) into 1 4.578 * [backup-simplify]: Simplify (+ 0 1) into 1 4.579 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.579 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.579 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 4.579 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 4.579 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 4.579 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.579 * [backup-simplify]: Simplify lambda1 into lambda1 4.579 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.579 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 4.579 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.579 * [backup-simplify]: Simplify lambda2 into lambda2 4.579 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.579 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.579 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.579 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.579 * [backup-simplify]: Simplify 0.5 into 0.5 4.579 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.579 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.579 * [taylor]: Taking taylor expansion of phi1 in phi1 4.579 * [backup-simplify]: Simplify 0 into 0 4.579 * [backup-simplify]: Simplify 1 into 1 4.579 * [backup-simplify]: Simplify (/ 1 1) into 1 4.580 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.580 * [taylor]: Taking taylor expansion of phi2 in phi1 4.580 * [backup-simplify]: Simplify phi2 into phi2 4.580 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.580 * [backup-simplify]: Simplify (+ 1 0) into 1 4.580 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.580 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.580 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 4.580 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 4.580 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 4.580 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.580 * [backup-simplify]: Simplify lambda1 into lambda1 4.580 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.580 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 4.580 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.580 * [backup-simplify]: Simplify 0 into 0 4.580 * [backup-simplify]: Simplify 1 into 1 4.581 * [backup-simplify]: Simplify (/ 1 1) into 1 4.581 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.581 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.581 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.581 * [backup-simplify]: Simplify 0.5 into 0.5 4.581 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.581 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.581 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.581 * [backup-simplify]: Simplify phi1 into phi1 4.581 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.581 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.581 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.581 * [backup-simplify]: Simplify phi2 into phi2 4.581 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.581 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.581 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.581 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.581 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.581 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 4.581 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 4.581 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 4.581 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.581 * [backup-simplify]: Simplify 0 into 0 4.581 * [backup-simplify]: Simplify 1 into 1 4.582 * [backup-simplify]: Simplify (/ 1 1) into 1 4.582 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 4.582 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.582 * [backup-simplify]: Simplify lambda2 into lambda2 4.582 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.582 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.582 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.582 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.582 * [backup-simplify]: Simplify 0.5 into 0.5 4.582 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.582 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.582 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.582 * [backup-simplify]: Simplify phi1 into phi1 4.582 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.582 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.582 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.582 * [backup-simplify]: Simplify phi2 into phi2 4.582 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.583 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.583 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.583 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.583 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.583 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 4.583 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 4.583 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 4.583 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.583 * [backup-simplify]: Simplify 0 into 0 4.583 * [backup-simplify]: Simplify 1 into 1 4.584 * [backup-simplify]: Simplify (/ 1 1) into 1 4.584 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 4.584 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.584 * [backup-simplify]: Simplify lambda2 into lambda2 4.584 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.584 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.584 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.584 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.584 * [backup-simplify]: Simplify 0.5 into 0.5 4.584 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.584 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.584 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.584 * [backup-simplify]: Simplify phi1 into phi1 4.584 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.584 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.584 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.584 * [backup-simplify]: Simplify phi2 into phi2 4.584 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.584 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.584 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.585 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.585 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.585 * [backup-simplify]: Simplify (+ 1 0) into 1 4.585 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.586 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.586 * [backup-simplify]: Simplify (- 0) into 0 4.586 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.586 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.586 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.587 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.587 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.587 * [backup-simplify]: Simplify 0.5 into 0.5 4.587 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.587 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.587 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.587 * [backup-simplify]: Simplify phi1 into phi1 4.587 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.587 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.587 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.587 * [backup-simplify]: Simplify phi2 into phi2 4.587 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.587 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.587 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.587 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.588 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.588 * [backup-simplify]: Simplify (+ 0) into 0 4.589 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.589 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.589 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.589 * [backup-simplify]: Simplify (+ 0 0) into 0 4.590 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.591 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.591 * [backup-simplify]: Simplify (- 0) into 0 4.592 * [backup-simplify]: Simplify (+ 0 0) into 0 4.592 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.592 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 4.593 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 4.593 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 4.593 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 4.593 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 4.593 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.593 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.593 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.593 * [backup-simplify]: Simplify 0.5 into 0.5 4.594 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.594 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.594 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.594 * [backup-simplify]: Simplify phi1 into phi1 4.594 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.594 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.594 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.594 * [backup-simplify]: Simplify phi2 into phi2 4.594 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.594 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.594 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.594 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.594 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.594 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.595 * [backup-simplify]: Simplify 0 into 0 4.595 * [backup-simplify]: Simplify 1 into 1 4.595 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.595 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.595 * [backup-simplify]: Simplify (- 0) into 0 4.595 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.596 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.596 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.596 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 4.596 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.596 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.596 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.596 * [backup-simplify]: Simplify 0.5 into 0.5 4.596 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.596 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.596 * [taylor]: Taking taylor expansion of phi1 in phi1 4.596 * [backup-simplify]: Simplify 0 into 0 4.596 * [backup-simplify]: Simplify 1 into 1 4.597 * [backup-simplify]: Simplify (/ 1 1) into 1 4.597 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.597 * [taylor]: Taking taylor expansion of phi2 in phi1 4.597 * [backup-simplify]: Simplify phi2 into phi2 4.597 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.597 * [backup-simplify]: Simplify (+ 1 0) into 1 4.598 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.598 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.598 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.598 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.598 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.598 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.598 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.598 * [backup-simplify]: Simplify 0.5 into 0.5 4.598 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.598 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.598 * [taylor]: Taking taylor expansion of phi1 in phi2 4.598 * [backup-simplify]: Simplify phi1 into phi1 4.598 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.598 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.599 * [taylor]: Taking taylor expansion of phi2 in phi2 4.599 * [backup-simplify]: Simplify 0 into 0 4.599 * [backup-simplify]: Simplify 1 into 1 4.599 * [backup-simplify]: Simplify (/ 1 1) into 1 4.599 * [backup-simplify]: Simplify (+ 0 1) into 1 4.600 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.600 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.600 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.600 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.601 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.601 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.601 * [backup-simplify]: Simplify (- 0) into 0 4.601 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.601 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.601 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.602 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.602 * [backup-simplify]: Simplify 0.5 into 0.5 4.602 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.602 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.602 * [taylor]: Taking taylor expansion of phi1 in phi1 4.602 * [backup-simplify]: Simplify 0 into 0 4.602 * [backup-simplify]: Simplify 1 into 1 4.602 * [backup-simplify]: Simplify (/ 1 1) into 1 4.602 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.602 * [taylor]: Taking taylor expansion of phi2 in phi1 4.602 * [backup-simplify]: Simplify phi2 into phi2 4.602 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.603 * [backup-simplify]: Simplify (+ 1 0) into 1 4.603 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.603 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.603 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.603 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.603 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.603 * [backup-simplify]: Simplify 0.5 into 0.5 4.603 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.603 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.603 * [taylor]: Taking taylor expansion of phi1 in phi2 4.604 * [backup-simplify]: Simplify phi1 into phi1 4.604 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.604 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.604 * [taylor]: Taking taylor expansion of phi2 in phi2 4.604 * [backup-simplify]: Simplify 0 into 0 4.604 * [backup-simplify]: Simplify 1 into 1 4.604 * [backup-simplify]: Simplify (/ 1 1) into 1 4.604 * [backup-simplify]: Simplify (+ 0 1) into 1 4.605 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.605 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.605 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.606 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.607 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.607 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.607 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.608 * [backup-simplify]: Simplify (+ 0 0) into 0 4.609 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.609 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.610 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.610 * [backup-simplify]: Simplify (- 0) into 0 4.611 * [backup-simplify]: Simplify (+ 0 0) into 0 4.612 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.612 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 4.612 * [backup-simplify]: Simplify (- 0) into 0 4.612 * [backup-simplify]: Simplify (+ 0 0) into 0 4.613 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.613 * [taylor]: Taking taylor expansion of 0 in lambda2 4.613 * [backup-simplify]: Simplify 0 into 0 4.614 * [backup-simplify]: Simplify (+ 0) into 0 4.615 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.615 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.615 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.615 * [backup-simplify]: Simplify (+ 0 0) into 0 4.616 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.617 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.617 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.618 * [backup-simplify]: Simplify (- 0) into 0 4.618 * [backup-simplify]: Simplify (+ 0 0) into 0 4.619 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 4.619 * [backup-simplify]: Simplify (- 0) into 0 4.619 * [taylor]: Taking taylor expansion of 0 in phi1 4.619 * [backup-simplify]: Simplify 0 into 0 4.620 * [taylor]: Taking taylor expansion of 0 in phi2 4.620 * [backup-simplify]: Simplify 0 into 0 4.620 * [backup-simplify]: Simplify 0 into 0 4.620 * [backup-simplify]: Simplify (+ 0) into 0 4.621 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.621 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.621 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.621 * [backup-simplify]: Simplify (+ 0 0) into 0 4.622 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.623 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.623 * [backup-simplify]: Simplify (- 0) into 0 4.624 * [backup-simplify]: Simplify (+ 0 0) into 0 4.624 * [taylor]: Taking taylor expansion of 0 in phi1 4.624 * [backup-simplify]: Simplify 0 into 0 4.624 * [taylor]: Taking taylor expansion of 0 in phi2 4.624 * [backup-simplify]: Simplify 0 into 0 4.624 * [backup-simplify]: Simplify 0 into 0 4.624 * [backup-simplify]: Simplify (- 0) into 0 4.624 * [taylor]: Taking taylor expansion of 0 in phi2 4.624 * [backup-simplify]: Simplify 0 into 0 4.624 * [backup-simplify]: Simplify 0 into 0 4.624 * [taylor]: Taking taylor expansion of 0 in phi2 4.624 * [backup-simplify]: Simplify 0 into 0 4.625 * [backup-simplify]: Simplify 0 into 0 4.625 * [backup-simplify]: Simplify (- 0) into 0 4.625 * [backup-simplify]: Simplify 0 into 0 4.625 * [backup-simplify]: Simplify 0 into 0 4.626 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda1)))))) (* (- (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) into (- (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 4.626 * [backup-simplify]: Simplify (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.626 * [approximate]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in (lambda1 lambda2 phi1 phi2) around 0 4.626 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.626 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 4.626 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 4.626 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.626 * [backup-simplify]: Simplify lambda2 into lambda2 4.626 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.626 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 4.626 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.626 * [backup-simplify]: Simplify lambda1 into lambda1 4.626 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.627 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.627 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.627 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.627 * [backup-simplify]: Simplify -0.5 into -0.5 4.627 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.627 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.627 * [taylor]: Taking taylor expansion of phi1 in phi2 4.627 * [backup-simplify]: Simplify phi1 into phi1 4.627 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.627 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.627 * [taylor]: Taking taylor expansion of phi2 in phi2 4.627 * [backup-simplify]: Simplify 0 into 0 4.627 * [backup-simplify]: Simplify 1 into 1 4.627 * [backup-simplify]: Simplify (/ 1 1) into 1 4.628 * [backup-simplify]: Simplify (+ 0 1) into 1 4.628 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.628 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.628 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 4.628 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 4.628 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 4.628 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.628 * [backup-simplify]: Simplify lambda2 into lambda2 4.628 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.629 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 4.629 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.629 * [backup-simplify]: Simplify lambda1 into lambda1 4.629 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.629 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.629 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.629 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.629 * [backup-simplify]: Simplify -0.5 into -0.5 4.629 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.629 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.629 * [taylor]: Taking taylor expansion of phi1 in phi1 4.629 * [backup-simplify]: Simplify 0 into 0 4.629 * [backup-simplify]: Simplify 1 into 1 4.629 * [backup-simplify]: Simplify (/ 1 1) into 1 4.629 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.629 * [taylor]: Taking taylor expansion of phi2 in phi1 4.629 * [backup-simplify]: Simplify phi2 into phi2 4.629 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.630 * [backup-simplify]: Simplify (+ 1 0) into 1 4.630 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.630 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.630 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 4.630 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 4.630 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 4.630 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.630 * [backup-simplify]: Simplify 0 into 0 4.630 * [backup-simplify]: Simplify 1 into 1 4.631 * [backup-simplify]: Simplify (/ 1 1) into 1 4.631 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 4.631 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.631 * [backup-simplify]: Simplify lambda1 into lambda1 4.631 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.631 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.631 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.631 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.631 * [backup-simplify]: Simplify -0.5 into -0.5 4.631 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.631 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.631 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.631 * [backup-simplify]: Simplify phi1 into phi1 4.631 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.631 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.631 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.631 * [backup-simplify]: Simplify phi2 into phi2 4.631 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.631 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.631 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.631 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.631 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.631 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 4.632 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 4.632 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 4.632 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.632 * [backup-simplify]: Simplify lambda2 into lambda2 4.632 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.632 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 4.632 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.632 * [backup-simplify]: Simplify 0 into 0 4.632 * [backup-simplify]: Simplify 1 into 1 4.632 * [backup-simplify]: Simplify (/ 1 1) into 1 4.632 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.632 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.632 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.632 * [backup-simplify]: Simplify -0.5 into -0.5 4.632 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.632 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.632 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.632 * [backup-simplify]: Simplify phi1 into phi1 4.632 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.632 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.632 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.632 * [backup-simplify]: Simplify phi2 into phi2 4.632 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.632 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.632 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.632 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.633 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.633 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 4.633 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 4.633 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 4.633 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.633 * [backup-simplify]: Simplify lambda2 into lambda2 4.633 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.633 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 4.633 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.633 * [backup-simplify]: Simplify 0 into 0 4.633 * [backup-simplify]: Simplify 1 into 1 4.633 * [backup-simplify]: Simplify (/ 1 1) into 1 4.633 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.633 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.633 * [taylor]: Taking taylor expansion of -0.5 in lambda1 4.633 * [backup-simplify]: Simplify -0.5 into -0.5 4.633 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.633 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.633 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.633 * [backup-simplify]: Simplify phi1 into phi1 4.633 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.633 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.633 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.633 * [backup-simplify]: Simplify phi2 into phi2 4.633 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.633 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.633 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.634 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.634 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.634 * [backup-simplify]: Simplify (- 1) into -1 4.634 * [backup-simplify]: Simplify (+ 0 -1) into -1 4.634 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.634 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.635 * [backup-simplify]: Simplify (- 0) into 0 4.635 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.635 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.635 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 4.635 * [taylor]: Taking taylor expansion of -1 in lambda2 4.635 * [backup-simplify]: Simplify -1 into -1 4.635 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.635 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.635 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.635 * [backup-simplify]: Simplify -0.5 into -0.5 4.635 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.635 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.635 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.635 * [backup-simplify]: Simplify phi1 into phi1 4.635 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.635 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.635 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.635 * [backup-simplify]: Simplify phi2 into phi2 4.635 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.635 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.635 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.636 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.636 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.636 * [backup-simplify]: Simplify (+ 0) into 0 4.636 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.636 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.637 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.637 * [backup-simplify]: Simplify (+ 0 0) into 0 4.637 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.638 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.638 * [backup-simplify]: Simplify (- 0) into 0 4.638 * [backup-simplify]: Simplify (+ 0 0) into 0 4.639 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.639 * [backup-simplify]: Simplify (- 0) into 0 4.639 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 4.640 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 4.640 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 4.640 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.640 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.640 * [taylor]: Taking taylor expansion of -0.5 in lambda2 4.640 * [backup-simplify]: Simplify -0.5 into -0.5 4.640 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.640 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.640 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.640 * [backup-simplify]: Simplify phi1 into phi1 4.640 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.640 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.640 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.640 * [backup-simplify]: Simplify phi2 into phi2 4.640 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.640 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.640 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.640 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.640 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.640 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.640 * [backup-simplify]: Simplify 0 into 0 4.640 * [backup-simplify]: Simplify 1 into 1 4.640 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.641 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.641 * [backup-simplify]: Simplify (- 0) into 0 4.641 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.641 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.641 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.641 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.641 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.641 * [backup-simplify]: Simplify -0.5 into -0.5 4.641 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.641 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.641 * [taylor]: Taking taylor expansion of phi1 in phi1 4.641 * [backup-simplify]: Simplify 0 into 0 4.641 * [backup-simplify]: Simplify 1 into 1 4.641 * [backup-simplify]: Simplify (/ 1 1) into 1 4.642 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.642 * [taylor]: Taking taylor expansion of phi2 in phi1 4.642 * [backup-simplify]: Simplify phi2 into phi2 4.642 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.642 * [backup-simplify]: Simplify (+ 1 0) into 1 4.642 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.642 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.642 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.642 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.642 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.642 * [backup-simplify]: Simplify -0.5 into -0.5 4.642 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.642 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.642 * [taylor]: Taking taylor expansion of phi1 in phi2 4.642 * [backup-simplify]: Simplify phi1 into phi1 4.642 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.642 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.642 * [taylor]: Taking taylor expansion of phi2 in phi2 4.643 * [backup-simplify]: Simplify 0 into 0 4.643 * [backup-simplify]: Simplify 1 into 1 4.643 * [backup-simplify]: Simplify (/ 1 1) into 1 4.643 * [backup-simplify]: Simplify (+ 0 1) into 1 4.643 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.643 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.644 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.644 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.644 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.644 * [backup-simplify]: Simplify (- 0) into 0 4.644 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.645 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.645 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 4.645 * [taylor]: Taking taylor expansion of -1 in phi1 4.645 * [backup-simplify]: Simplify -1 into -1 4.645 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.645 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.645 * [taylor]: Taking taylor expansion of -0.5 in phi1 4.645 * [backup-simplify]: Simplify -0.5 into -0.5 4.645 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.645 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.645 * [taylor]: Taking taylor expansion of phi1 in phi1 4.645 * [backup-simplify]: Simplify 0 into 0 4.645 * [backup-simplify]: Simplify 1 into 1 4.645 * [backup-simplify]: Simplify (/ 1 1) into 1 4.645 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.645 * [taylor]: Taking taylor expansion of phi2 in phi1 4.645 * [backup-simplify]: Simplify phi2 into phi2 4.645 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.646 * [backup-simplify]: Simplify (+ 1 0) into 1 4.646 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.646 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.647 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.647 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.647 * [taylor]: Taking taylor expansion of -1 in phi2 4.647 * [backup-simplify]: Simplify -1 into -1 4.647 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.647 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.647 * [taylor]: Taking taylor expansion of -0.5 in phi2 4.647 * [backup-simplify]: Simplify -0.5 into -0.5 4.647 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.647 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.647 * [taylor]: Taking taylor expansion of phi1 in phi2 4.647 * [backup-simplify]: Simplify phi1 into phi1 4.647 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.647 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.647 * [taylor]: Taking taylor expansion of phi2 in phi2 4.647 * [backup-simplify]: Simplify 0 into 0 4.647 * [backup-simplify]: Simplify 1 into 1 4.648 * [backup-simplify]: Simplify (/ 1 1) into 1 4.648 * [backup-simplify]: Simplify (+ 0 1) into 1 4.648 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 4.648 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.648 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.649 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.649 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.650 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.650 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.650 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.650 * [backup-simplify]: Simplify (+ 0 0) into 0 4.651 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.652 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.652 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.653 * [backup-simplify]: Simplify (- 0) into 0 4.653 * [backup-simplify]: Simplify (+ 0 0) into 0 4.653 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 4.654 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.654 * [backup-simplify]: Simplify (- 0) into 0 4.655 * [backup-simplify]: Simplify (+ 0 0) into 0 4.655 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.656 * [taylor]: Taking taylor expansion of 0 in lambda2 4.656 * [backup-simplify]: Simplify 0 into 0 4.656 * [backup-simplify]: Simplify (+ 0) into 0 4.657 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.657 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.657 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.657 * [backup-simplify]: Simplify (+ 0 0) into 0 4.658 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.659 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.659 * [backup-simplify]: Simplify (- 0) into 0 4.660 * [backup-simplify]: Simplify (+ 0 0) into 0 4.661 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 4.661 * [taylor]: Taking taylor expansion of 0 in phi1 4.661 * [backup-simplify]: Simplify 0 into 0 4.661 * [taylor]: Taking taylor expansion of 0 in phi2 4.661 * [backup-simplify]: Simplify 0 into 0 4.661 * [backup-simplify]: Simplify 0 into 0 4.661 * [backup-simplify]: Simplify (+ 0) into 0 4.662 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.663 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.663 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.663 * [backup-simplify]: Simplify (+ 0 0) into 0 4.664 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.665 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.665 * [backup-simplify]: Simplify (- 0) into 0 4.665 * [backup-simplify]: Simplify (+ 0 0) into 0 4.666 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.666 * [taylor]: Taking taylor expansion of 0 in phi1 4.666 * [backup-simplify]: Simplify 0 into 0 4.666 * [taylor]: Taking taylor expansion of 0 in phi2 4.666 * [backup-simplify]: Simplify 0 into 0 4.666 * [backup-simplify]: Simplify 0 into 0 4.666 * [taylor]: Taking taylor expansion of 0 in phi2 4.666 * [backup-simplify]: Simplify 0 into 0 4.666 * [backup-simplify]: Simplify 0 into 0 4.666 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.666 * [taylor]: Taking taylor expansion of 0 in phi2 4.667 * [backup-simplify]: Simplify 0 into 0 4.667 * [backup-simplify]: Simplify 0 into 0 4.667 * [backup-simplify]: Simplify 0 into 0 4.667 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.667 * [backup-simplify]: Simplify 0 into 0 4.668 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda1))))))) (* (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) into (- (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 4.668 * * * * [progress]: [ 3 / 4 ] generating series at (2) 4.668 * [backup-simplify]: Simplify (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R) into (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) 4.668 * [approximate]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in (lambda1 lambda2 phi1 phi2 R) around 0 4.668 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in R 4.668 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in R 4.669 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 4.669 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in R 4.669 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in R 4.669 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in R 4.669 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R 4.669 * [taylor]: Taking taylor expansion of lambda1 in R 4.669 * [backup-simplify]: Simplify lambda1 into lambda1 4.669 * [taylor]: Taking taylor expansion of lambda2 in R 4.669 * [backup-simplify]: Simplify lambda2 into lambda2 4.669 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in R 4.669 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in R 4.669 * [taylor]: Taking taylor expansion of 0.5 in R 4.669 * [backup-simplify]: Simplify 0.5 into 0.5 4.669 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in R 4.669 * [taylor]: Taking taylor expansion of phi2 in R 4.669 * [backup-simplify]: Simplify phi2 into phi2 4.669 * [taylor]: Taking taylor expansion of phi1 in R 4.669 * [backup-simplify]: Simplify phi1 into phi1 4.669 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.669 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.669 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.670 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.670 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in R 4.670 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R 4.670 * [taylor]: Taking taylor expansion of lambda1 in R 4.670 * [backup-simplify]: Simplify lambda1 into lambda1 4.670 * [taylor]: Taking taylor expansion of lambda2 in R 4.670 * [backup-simplify]: Simplify lambda2 into lambda2 4.670 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in R 4.670 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in R 4.670 * [taylor]: Taking taylor expansion of 0.5 in R 4.670 * [backup-simplify]: Simplify 0.5 into 0.5 4.670 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in R 4.670 * [taylor]: Taking taylor expansion of phi2 in R 4.670 * [backup-simplify]: Simplify phi2 into phi2 4.670 * [taylor]: Taking taylor expansion of phi1 in R 4.670 * [backup-simplify]: Simplify phi1 into phi1 4.670 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.670 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.670 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.670 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.670 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in R 4.670 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R 4.670 * [taylor]: Taking taylor expansion of phi1 in R 4.670 * [backup-simplify]: Simplify phi1 into phi1 4.671 * [taylor]: Taking taylor expansion of phi2 in R 4.671 * [backup-simplify]: Simplify phi2 into phi2 4.671 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R 4.671 * [taylor]: Taking taylor expansion of phi1 in R 4.671 * [backup-simplify]: Simplify phi1 into phi1 4.671 * [taylor]: Taking taylor expansion of phi2 in R 4.671 * [backup-simplify]: Simplify phi2 into phi2 4.671 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 4.671 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 4.671 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.671 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.672 * [backup-simplify]: Simplify (- 0) into 0 4.672 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.672 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) 4.672 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 4.672 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 4.672 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.672 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.673 * [backup-simplify]: Simplify (- 0) into 0 4.673 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.673 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) 4.673 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.673 * [backup-simplify]: Simplify (- phi2) into (- phi2) 4.673 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 4.673 * [backup-simplify]: Simplify (- phi2) into (- phi2) 4.673 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 4.674 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 4.675 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (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))))) 4.677 * [backup-simplify]: Simplify (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)))))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 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)))))) 4.677 * [backup-simplify]: Simplify (+ 0) into 0 4.678 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.678 * [backup-simplify]: Simplify (+ 0 0) into 0 4.679 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.680 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.680 * [backup-simplify]: Simplify (- 0) into 0 4.681 * [backup-simplify]: Simplify (+ 0 0) into 0 4.681 * [backup-simplify]: Simplify (- 0) into 0 4.682 * [backup-simplify]: Simplify (+ 0 0) into 0 4.682 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.682 * [backup-simplify]: Simplify (+ 0) into 0 4.683 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.683 * [backup-simplify]: Simplify (+ 0 0) into 0 4.683 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.685 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.685 * [backup-simplify]: Simplify (- 0) into 0 4.685 * [backup-simplify]: Simplify (+ 0 0) into 0 4.686 * [backup-simplify]: Simplify (- 0) into 0 4.686 * [backup-simplify]: Simplify (+ 0 0) into 0 4.686 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 4.687 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) 0) (* 0 (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))))) into 0 4.687 * [backup-simplify]: Simplify (- 0) into 0 4.687 * [backup-simplify]: Simplify (+ 0 0) into 0 4.688 * [backup-simplify]: Simplify (- 0) into 0 4.688 * [backup-simplify]: Simplify (+ 0 0) into 0 4.688 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 4.689 * [backup-simplify]: Simplify (+ 0 0) into 0 4.691 * [backup-simplify]: Simplify (/ 0 (* 2 (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)))))))) into 0 4.692 * [taylor]: Taking taylor expansion of R in R 4.692 * [backup-simplify]: Simplify 0 into 0 4.692 * [backup-simplify]: Simplify 1 into 1 4.692 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in phi2 4.692 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in phi2 4.692 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 4.692 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in phi2 4.692 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in phi2 4.692 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi2 4.692 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 4.692 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.692 * [backup-simplify]: Simplify lambda1 into lambda1 4.692 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.692 * [backup-simplify]: Simplify lambda2 into lambda2 4.692 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.692 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.692 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.692 * [backup-simplify]: Simplify 0.5 into 0.5 4.692 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.692 * [taylor]: Taking taylor expansion of phi2 in phi2 4.692 * [backup-simplify]: Simplify 0 into 0 4.692 * [backup-simplify]: Simplify 1 into 1 4.692 * [taylor]: Taking taylor expansion of phi1 in phi2 4.692 * [backup-simplify]: Simplify phi1 into phi1 4.692 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.692 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.693 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.693 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.693 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi2 4.693 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 4.693 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.693 * [backup-simplify]: Simplify lambda1 into lambda1 4.693 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.693 * [backup-simplify]: Simplify lambda2 into lambda2 4.693 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 4.693 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 4.693 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.693 * [backup-simplify]: Simplify 0.5 into 0.5 4.693 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 4.693 * [taylor]: Taking taylor expansion of phi2 in phi2 4.693 * [backup-simplify]: Simplify 0 into 0 4.693 * [backup-simplify]: Simplify 1 into 1 4.693 * [taylor]: Taking taylor expansion of phi1 in phi2 4.693 * [backup-simplify]: Simplify phi1 into phi1 4.693 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 4.693 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 4.693 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 4.693 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 4.693 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi2 4.693 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2 4.693 * [taylor]: Taking taylor expansion of phi1 in phi2 4.693 * [backup-simplify]: Simplify phi1 into phi1 4.693 * [taylor]: Taking taylor expansion of phi2 in phi2 4.693 * [backup-simplify]: Simplify 0 into 0 4.693 * [backup-simplify]: Simplify 1 into 1 4.694 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2 4.694 * [taylor]: Taking taylor expansion of phi1 in phi2 4.694 * [backup-simplify]: Simplify phi1 into phi1 4.694 * [taylor]: Taking taylor expansion of phi2 in phi2 4.694 * [backup-simplify]: Simplify 0 into 0 4.694 * [backup-simplify]: Simplify 1 into 1 4.694 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 4.694 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 4.694 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.694 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.694 * [backup-simplify]: Simplify (- 0) into 0 4.695 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.695 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) 4.695 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 4.695 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 4.695 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 4.695 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 4.695 * [backup-simplify]: Simplify (- 0) into 0 4.695 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 4.696 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) 4.696 * [backup-simplify]: Simplify (* (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) (* (cos (* 0.5 phi1)) (- lambda1 lambda2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow (- lambda1 lambda2) 2)) 4.696 * [backup-simplify]: Simplify (- 0) into 0 4.696 * [backup-simplify]: Simplify (+ phi1 0) into phi1 4.697 * [backup-simplify]: Simplify (- 0) into 0 4.697 * [backup-simplify]: Simplify (+ phi1 0) into phi1 4.697 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.697 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow (- lambda1 lambda2) 2)) (pow phi1 2)) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 4.699 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) 4.699 * [backup-simplify]: Simplify (+ 0) into 0 4.700 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.700 * [backup-simplify]: Simplify (+ 1 0) into 1 4.700 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.702 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.702 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.703 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.703 * [backup-simplify]: Simplify (- 0) into 0 4.703 * [backup-simplify]: Simplify (+ 0 0) into 0 4.703 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) 4.703 * [backup-simplify]: Simplify (+ 0) into 0 4.704 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 4.704 * [backup-simplify]: Simplify (+ 1 0) into 1 4.704 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 4.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.706 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 4.706 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.706 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 4.707 * [backup-simplify]: Simplify (- 0) into 0 4.707 * [backup-simplify]: Simplify (+ 0 0) into 0 4.707 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) 4.708 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1)))) (* (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) (* (cos (* 0.5 phi1)) (- lambda1 lambda2)))) 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)))))) 4.708 * [backup-simplify]: Simplify (- 1) into -1 4.711 * [backup-simplify]: Simplify (+ 0 -1) into -1 4.712 * [backup-simplify]: Simplify (- 1) into -1 4.712 * [backup-simplify]: Simplify (+ 0 -1) into -1 4.712 * [backup-simplify]: Simplify (+ (* phi1 -1) (* -1 phi1)) into (- (* 2 phi1)) 4.713 * [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))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) 4.714 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))))) 4.714 * [taylor]: Taking taylor expansion of R in phi2 4.714 * [backup-simplify]: Simplify R into R 4.714 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in phi1 4.714 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in phi1 4.715 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 4.715 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in phi1 4.715 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in phi1 4.715 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi1 4.715 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 4.715 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.715 * [backup-simplify]: Simplify lambda1 into lambda1 4.715 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.715 * [backup-simplify]: Simplify lambda2 into lambda2 4.715 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.715 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.715 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.715 * [backup-simplify]: Simplify 0.5 into 0.5 4.715 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.715 * [taylor]: Taking taylor expansion of phi2 in phi1 4.715 * [backup-simplify]: Simplify phi2 into phi2 4.715 * [taylor]: Taking taylor expansion of phi1 in phi1 4.715 * [backup-simplify]: Simplify 0 into 0 4.715 * [backup-simplify]: Simplify 1 into 1 4.715 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.715 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.715 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.715 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.715 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi1 4.715 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 4.715 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.715 * [backup-simplify]: Simplify lambda1 into lambda1 4.715 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.715 * [backup-simplify]: Simplify lambda2 into lambda2 4.715 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 4.715 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 4.715 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.715 * [backup-simplify]: Simplify 0.5 into 0.5 4.715 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 4.715 * [taylor]: Taking taylor expansion of phi2 in phi1 4.715 * [backup-simplify]: Simplify phi2 into phi2 4.715 * [taylor]: Taking taylor expansion of phi1 in phi1 4.715 * [backup-simplify]: Simplify 0 into 0 4.715 * [backup-simplify]: Simplify 1 into 1 4.715 * [backup-simplify]: Simplify (+ phi2 0) into phi2 4.715 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 4.715 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 4.716 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 4.716 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi1 4.716 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1 4.716 * [taylor]: Taking taylor expansion of phi1 in phi1 4.716 * [backup-simplify]: Simplify 0 into 0 4.716 * [backup-simplify]: Simplify 1 into 1 4.716 * [taylor]: Taking taylor expansion of phi2 in phi1 4.716 * [backup-simplify]: Simplify phi2 into phi2 4.716 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1 4.716 * [taylor]: Taking taylor expansion of phi1 in phi1 4.716 * [backup-simplify]: Simplify 0 into 0 4.716 * [backup-simplify]: Simplify 1 into 1 4.716 * [taylor]: Taking taylor expansion of phi2 in phi1 4.716 * [backup-simplify]: Simplify phi2 into phi2 4.716 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 4.716 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 4.716 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.716 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.716 * [backup-simplify]: Simplify (- 0) into 0 4.716 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.716 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) 4.716 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 4.716 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 4.716 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 4.717 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 4.717 * [backup-simplify]: Simplify (- 0) into 0 4.717 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 4.717 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) 4.717 * [backup-simplify]: Simplify (* (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) (* (cos (* 0.5 phi2)) (- lambda1 lambda2))) into (* (pow (cos (* 0.5 phi2)) 2) (pow (- lambda1 lambda2) 2)) 4.717 * [backup-simplify]: Simplify (- phi2) into (- phi2) 4.717 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2) 4.717 * [backup-simplify]: Simplify (- phi2) into (- phi2) 4.717 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2) 4.717 * [backup-simplify]: Simplify (* (- phi2) (- phi2)) into (pow phi2 2) 4.718 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (- lambda1 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))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 4.718 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) 4.719 * [backup-simplify]: Simplify (+ 0) into 0 4.719 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.719 * [backup-simplify]: Simplify (+ 0 1) into 1 4.720 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.721 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.722 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.722 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.722 * [backup-simplify]: Simplify (- 0) into 0 4.722 * [backup-simplify]: Simplify (+ 0 0) into 0 4.722 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) 4.723 * [backup-simplify]: Simplify (+ 0) into 0 4.723 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 4.723 * [backup-simplify]: Simplify (+ 0 1) into 1 4.723 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 4.725 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 4.725 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 4.725 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.725 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 4.726 * [backup-simplify]: Simplify (- 0) into 0 4.726 * [backup-simplify]: Simplify (+ 0 0) into 0 4.726 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) 4.727 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1)))) (* (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) (* (cos (* 0.5 phi2)) (- lambda1 lambda2)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 4.727 * [backup-simplify]: Simplify (- 0) into 0 4.727 * [backup-simplify]: Simplify (+ 1 0) into 1 4.728 * [backup-simplify]: Simplify (- 0) into 0 4.728 * [backup-simplify]: Simplify (+ 1 0) into 1 4.728 * [backup-simplify]: Simplify (+ (* (- phi2) 1) (* 1 (- phi2))) into (- (* 2 phi2)) 4.729 * [backup-simplify]: Simplify (+ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2 phi2))) 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))))))) 4.730 * [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)))))))) 4.730 * [taylor]: Taking taylor expansion of R in phi1 4.730 * [backup-simplify]: Simplify R into R 4.730 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in lambda2 4.730 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda2 4.731 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 4.731 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda2 4.731 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda2 4.731 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda2 4.731 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 4.731 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.731 * [backup-simplify]: Simplify lambda1 into lambda1 4.731 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.731 * [backup-simplify]: Simplify 0 into 0 4.731 * [backup-simplify]: Simplify 1 into 1 4.731 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.731 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.731 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.731 * [backup-simplify]: Simplify 0.5 into 0.5 4.731 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.731 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.731 * [backup-simplify]: Simplify phi2 into phi2 4.731 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.731 * [backup-simplify]: Simplify phi1 into phi1 4.731 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.731 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.731 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.731 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.731 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda2 4.731 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 4.731 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.731 * [backup-simplify]: Simplify lambda1 into lambda1 4.731 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.731 * [backup-simplify]: Simplify 0 into 0 4.731 * [backup-simplify]: Simplify 1 into 1 4.731 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.731 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.732 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.732 * [backup-simplify]: Simplify 0.5 into 0.5 4.732 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.732 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.732 * [backup-simplify]: Simplify phi2 into phi2 4.732 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.732 * [backup-simplify]: Simplify phi1 into phi1 4.732 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.732 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.732 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.732 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.732 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda2 4.732 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2 4.732 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.732 * [backup-simplify]: Simplify phi1 into phi1 4.732 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.732 * [backup-simplify]: Simplify phi2 into phi2 4.732 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2 4.732 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.732 * [backup-simplify]: Simplify phi1 into phi1 4.732 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.732 * [backup-simplify]: Simplify phi2 into phi2 4.732 * [backup-simplify]: Simplify (- 0) into 0 4.732 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 4.732 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.732 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.733 * [backup-simplify]: Simplify (- 0) into 0 4.733 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.733 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi2 phi1)))) into (* (cos (* 0.5 (+ phi2 phi1))) lambda1) 4.733 * [backup-simplify]: Simplify (- 0) into 0 4.733 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 4.733 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.733 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.734 * [backup-simplify]: Simplify (- 0) into 0 4.734 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.734 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi2 phi1)))) into (* (cos (* 0.5 (+ phi2 phi1))) lambda1) 4.734 * [backup-simplify]: Simplify (* (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 4.734 * [backup-simplify]: Simplify (- phi2) into (- phi2) 4.734 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 4.734 * [backup-simplify]: Simplify (- phi2) into (- phi2) 4.734 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 4.734 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 4.734 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1))) 4.735 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))) 4.735 * [backup-simplify]: Simplify (+ 0) into 0 4.736 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.736 * [backup-simplify]: Simplify (+ 0 0) into 0 4.736 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.737 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.737 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.737 * [backup-simplify]: Simplify (- 0) into 0 4.737 * [backup-simplify]: Simplify (+ 0 0) into 0 4.738 * [backup-simplify]: Simplify (- 1) into -1 4.738 * [backup-simplify]: Simplify (+ 0 -1) into -1 4.738 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi2 phi1))))) into (- (cos (* 0.5 (+ phi2 phi1)))) 4.738 * [backup-simplify]: Simplify (+ 0) into 0 4.739 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.739 * [backup-simplify]: Simplify (+ 0 0) into 0 4.739 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.740 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.740 * [backup-simplify]: Simplify (- 0) into 0 4.741 * [backup-simplify]: Simplify (+ 0 0) into 0 4.741 * [backup-simplify]: Simplify (- 1) into -1 4.741 * [backup-simplify]: Simplify (+ 0 -1) into -1 4.741 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi2 phi1))))) into (- (cos (* 0.5 (+ phi2 phi1)))) 4.742 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (- (cos (* 0.5 (+ phi2 phi1))))) (* (- (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.742 * [backup-simplify]: Simplify (- 0) into 0 4.742 * [backup-simplify]: Simplify (+ 0 0) into 0 4.742 * [backup-simplify]: Simplify (- 0) into 0 4.743 * [backup-simplify]: Simplify (+ 0 0) into 0 4.743 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 4.743 * [backup-simplify]: Simplify (+ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 0) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 4.744 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1))))))) 4.744 * [taylor]: Taking taylor expansion of R in lambda2 4.744 * [backup-simplify]: Simplify R into R 4.744 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in lambda1 4.744 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda1 4.744 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 4.744 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1 4.744 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda1 4.744 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 4.744 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 4.744 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.744 * [backup-simplify]: Simplify 0 into 0 4.744 * [backup-simplify]: Simplify 1 into 1 4.744 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.744 * [backup-simplify]: Simplify lambda2 into lambda2 4.744 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.744 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.744 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.744 * [backup-simplify]: Simplify 0.5 into 0.5 4.744 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.744 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.744 * [backup-simplify]: Simplify phi2 into phi2 4.744 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.744 * [backup-simplify]: Simplify phi1 into phi1 4.744 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.744 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.745 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.745 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.745 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 4.745 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 4.745 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.745 * [backup-simplify]: Simplify 0 into 0 4.745 * [backup-simplify]: Simplify 1 into 1 4.745 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.745 * [backup-simplify]: Simplify lambda2 into lambda2 4.745 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.745 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.745 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.745 * [backup-simplify]: Simplify 0.5 into 0.5 4.745 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.745 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.745 * [backup-simplify]: Simplify phi2 into phi2 4.745 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.745 * [backup-simplify]: Simplify phi1 into phi1 4.745 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.745 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.745 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.745 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.745 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1 4.745 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 4.745 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.745 * [backup-simplify]: Simplify phi1 into phi1 4.745 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.745 * [backup-simplify]: Simplify phi2 into phi2 4.745 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 4.745 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.745 * [backup-simplify]: Simplify phi1 into phi1 4.745 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.745 * [backup-simplify]: Simplify phi2 into phi2 4.745 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 4.745 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 4.745 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.745 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.746 * [backup-simplify]: Simplify (- 0) into 0 4.746 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.746 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 4.746 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 4.746 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 4.746 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.746 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.746 * [backup-simplify]: Simplify (- 0) into 0 4.746 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.747 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 4.747 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.747 * [backup-simplify]: Simplify (- phi2) into (- phi2) 4.747 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 4.747 * [backup-simplify]: Simplify (- phi2) into (- phi2) 4.747 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 4.747 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 4.747 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 4.748 * [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)))) 4.748 * [backup-simplify]: Simplify (+ 0) into 0 4.748 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.749 * [backup-simplify]: Simplify (+ 0 0) into 0 4.749 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.749 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.750 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.750 * [backup-simplify]: Simplify (- 0) into 0 4.750 * [backup-simplify]: Simplify (+ 0 0) into 0 4.750 * [backup-simplify]: Simplify (- 0) into 0 4.751 * [backup-simplify]: Simplify (+ 1 0) into 1 4.751 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 4.751 * [backup-simplify]: Simplify (+ 0) into 0 4.751 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.752 * [backup-simplify]: Simplify (+ 0 0) into 0 4.752 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.753 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.753 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.753 * [backup-simplify]: Simplify (- 0) into 0 4.753 * [backup-simplify]: Simplify (+ 0 0) into 0 4.754 * [backup-simplify]: Simplify (- 0) into 0 4.754 * [backup-simplify]: Simplify (+ 1 0) into 1 4.754 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 4.754 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.755 * [backup-simplify]: Simplify (- 0) into 0 4.755 * [backup-simplify]: Simplify (+ 0 0) into 0 4.755 * [backup-simplify]: Simplify (- 0) into 0 4.755 * [backup-simplify]: Simplify (+ 0 0) into 0 4.755 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 4.756 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.756 * [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)))) 4.756 * [taylor]: Taking taylor expansion of R in lambda1 4.757 * [backup-simplify]: Simplify R into R 4.757 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in lambda1 4.757 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda1 4.757 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 4.757 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1 4.757 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda1 4.757 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 4.757 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 4.757 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.757 * [backup-simplify]: Simplify 0 into 0 4.757 * [backup-simplify]: Simplify 1 into 1 4.757 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.757 * [backup-simplify]: Simplify lambda2 into lambda2 4.757 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.757 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.757 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.757 * [backup-simplify]: Simplify 0.5 into 0.5 4.757 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.757 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.757 * [backup-simplify]: Simplify phi2 into phi2 4.757 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.757 * [backup-simplify]: Simplify phi1 into phi1 4.757 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.757 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.757 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.757 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.757 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 4.757 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 4.757 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.757 * [backup-simplify]: Simplify 0 into 0 4.757 * [backup-simplify]: Simplify 1 into 1 4.757 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.757 * [backup-simplify]: Simplify lambda2 into lambda2 4.757 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 4.757 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 4.757 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.757 * [backup-simplify]: Simplify 0.5 into 0.5 4.757 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 4.757 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.757 * [backup-simplify]: Simplify phi2 into phi2 4.757 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.757 * [backup-simplify]: Simplify phi1 into phi1 4.757 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.758 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.758 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.758 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.758 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1 4.758 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 4.758 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.758 * [backup-simplify]: Simplify phi1 into phi1 4.758 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.758 * [backup-simplify]: Simplify phi2 into phi2 4.758 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 4.758 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.758 * [backup-simplify]: Simplify phi1 into phi1 4.758 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.758 * [backup-simplify]: Simplify phi2 into phi2 4.758 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 4.758 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 4.758 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.758 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.758 * [backup-simplify]: Simplify (- 0) into 0 4.758 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.758 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 4.758 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 4.759 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 4.759 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.759 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.759 * [backup-simplify]: Simplify (- 0) into 0 4.759 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.759 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 4.759 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 4.759 * [backup-simplify]: Simplify (- phi2) into (- phi2) 4.759 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 4.759 * [backup-simplify]: Simplify (- phi2) into (- phi2) 4.759 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 4.759 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 4.760 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 4.760 * [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)))) 4.761 * [backup-simplify]: Simplify (+ 0) into 0 4.761 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.761 * [backup-simplify]: Simplify (+ 0 0) into 0 4.761 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.762 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.762 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.763 * [backup-simplify]: Simplify (- 0) into 0 4.763 * [backup-simplify]: Simplify (+ 0 0) into 0 4.763 * [backup-simplify]: Simplify (- 0) into 0 4.763 * [backup-simplify]: Simplify (+ 1 0) into 1 4.763 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 4.764 * [backup-simplify]: Simplify (+ 0) into 0 4.764 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 4.764 * [backup-simplify]: Simplify (+ 0 0) into 0 4.765 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 4.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.765 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 4.766 * [backup-simplify]: Simplify (- 0) into 0 4.766 * [backup-simplify]: Simplify (+ 0 0) into 0 4.766 * [backup-simplify]: Simplify (- 0) into 0 4.767 * [backup-simplify]: Simplify (+ 1 0) into 1 4.767 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 4.767 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.768 * [backup-simplify]: Simplify (- 0) into 0 4.768 * [backup-simplify]: Simplify (+ 0 0) into 0 4.768 * [backup-simplify]: Simplify (- 0) into 0 4.769 * [backup-simplify]: Simplify (+ 0 0) into 0 4.769 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 4.769 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 4.771 * [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)))) 4.771 * [taylor]: Taking taylor expansion of R in lambda1 4.771 * [backup-simplify]: Simplify R into R 4.772 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) R) into (* (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) R) 4.772 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) R) in lambda2 4.772 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) in lambda2 4.772 * [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 4.772 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 4.772 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.772 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.772 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.772 * [backup-simplify]: Simplify 0 into 0 4.772 * [backup-simplify]: Simplify 1 into 1 4.772 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.772 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.772 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.772 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.772 * [backup-simplify]: Simplify 0.5 into 0.5 4.772 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.772 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.772 * [backup-simplify]: Simplify phi2 into phi2 4.772 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.772 * [backup-simplify]: Simplify phi1 into phi1 4.772 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.773 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.773 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.773 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.773 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.773 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.774 * [backup-simplify]: Simplify (- 0) into 0 4.774 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.774 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 4.774 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.774 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.774 * [backup-simplify]: Simplify phi2 into phi2 4.774 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.774 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.774 * [backup-simplify]: Simplify phi1 into phi1 4.774 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.774 * [taylor]: Taking taylor expansion of 2 in lambda2 4.774 * [backup-simplify]: Simplify 2 into 2 4.774 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.774 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.774 * [backup-simplify]: Simplify phi2 into phi2 4.774 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.775 * [backup-simplify]: Simplify phi1 into phi1 4.775 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.775 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.775 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 4.775 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 4.775 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.775 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.776 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.776 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 4.776 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 4.777 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.777 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.777 * [backup-simplify]: Simplify (+ 0 0) into 0 4.778 * [backup-simplify]: Simplify (+ 0 0) into 0 4.778 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.778 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.779 * [backup-simplify]: Simplify (- 0) into 0 4.779 * [backup-simplify]: Simplify (+ 0 0) into 0 4.780 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))))) into 0 4.780 * [taylor]: Taking taylor expansion of R in lambda2 4.780 * [backup-simplify]: Simplify R into R 4.780 * [backup-simplify]: Simplify (* (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) R) into (* (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) R) 4.780 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) R) in phi1 4.780 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1 4.780 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1 4.780 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 4.780 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 4.780 * [taylor]: Taking taylor expansion of phi1 in phi1 4.780 * [backup-simplify]: Simplify 0 into 0 4.780 * [backup-simplify]: Simplify 1 into 1 4.780 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 4.780 * [taylor]: Taking taylor expansion of phi2 in phi1 4.780 * [backup-simplify]: Simplify phi2 into phi2 4.780 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 4.781 * [taylor]: Taking taylor expansion of 2 in phi1 4.781 * [backup-simplify]: Simplify 2 into 2 4.781 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 4.781 * [taylor]: Taking taylor expansion of phi2 in phi1 4.781 * [backup-simplify]: Simplify phi2 into phi2 4.781 * [taylor]: Taking taylor expansion of phi1 in phi1 4.781 * [backup-simplify]: Simplify 0 into 0 4.781 * [backup-simplify]: Simplify 1 into 1 4.781 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.781 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 4.781 * [backup-simplify]: Simplify (* phi2 0) into 0 4.782 * [backup-simplify]: Simplify (* 2 0) into 0 4.782 * [backup-simplify]: Simplify (- 0) into 0 4.782 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 4.782 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 4.783 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.783 * [backup-simplify]: Simplify (+ 0 0) into 0 4.783 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 4.784 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 4.784 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 4.784 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 4.784 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 4.784 * [taylor]: Taking taylor expansion of R in phi1 4.784 * [backup-simplify]: Simplify R into R 4.784 * [backup-simplify]: Simplify (* phi2 R) into (* phi2 R) 4.784 * [taylor]: Taking taylor expansion of (* phi2 R) in phi2 4.785 * [taylor]: Taking taylor expansion of phi2 in phi2 4.785 * [backup-simplify]: Simplify 0 into 0 4.785 * [backup-simplify]: Simplify 1 into 1 4.785 * [taylor]: Taking taylor expansion of R in phi2 4.785 * [backup-simplify]: Simplify R into R 4.785 * [backup-simplify]: Simplify (* 0 R) into 0 4.785 * [taylor]: Taking taylor expansion of 0 in R 4.785 * [backup-simplify]: Simplify 0 into 0 4.785 * [backup-simplify]: Simplify 0 into 0 4.787 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) 0) (* (* -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)))) R)) into (- (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R)))) 4.788 * [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))))) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R)))) in lambda2 4.788 * [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))))) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R))) in lambda2 4.788 * [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 4.788 * [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 4.788 * [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 4.788 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 4.788 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 4.788 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 4.788 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.788 * [backup-simplify]: Simplify 0 into 0 4.788 * [backup-simplify]: Simplify 1 into 1 4.788 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.788 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.788 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.788 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.788 * [backup-simplify]: Simplify 0.5 into 0.5 4.788 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.788 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.788 * [backup-simplify]: Simplify phi2 into phi2 4.788 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.788 * [backup-simplify]: Simplify phi1 into phi1 4.788 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.788 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.789 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.789 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.789 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.789 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.789 * [backup-simplify]: Simplify (- 0) into 0 4.790 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.790 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 4.790 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.790 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.790 * [backup-simplify]: Simplify phi2 into phi2 4.790 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.790 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.790 * [backup-simplify]: Simplify phi1 into phi1 4.790 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 4.790 * [taylor]: Taking taylor expansion of 2 in lambda2 4.790 * [backup-simplify]: Simplify 2 into 2 4.790 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 4.790 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.790 * [backup-simplify]: Simplify phi2 into phi2 4.790 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.790 * [backup-simplify]: Simplify phi1 into phi1 4.790 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.790 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.790 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 4.791 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 4.791 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 4.791 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 4.791 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 4.791 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 4.792 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 4.792 * [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))))) 4.792 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.792 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.793 * [backup-simplify]: Simplify (+ 0 0) into 0 4.793 * [backup-simplify]: Simplify (+ 0 0) into 0 4.793 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 4.794 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 4.794 * [backup-simplify]: Simplify (- 0) into 0 4.794 * [backup-simplify]: Simplify (+ 0 0) into 0 4.795 * [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 4.796 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 4.796 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R)) in lambda2 4.796 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.796 * [backup-simplify]: Simplify 0 into 0 4.796 * [backup-simplify]: Simplify 1 into 1 4.796 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R) in lambda2 4.796 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 4.796 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 4.796 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 4.796 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.796 * [backup-simplify]: Simplify 0.5 into 0.5 4.796 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 4.796 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.796 * [backup-simplify]: Simplify phi2 into phi2 4.796 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.796 * [backup-simplify]: Simplify phi1 into phi1 4.796 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 4.796 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 4.796 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 4.796 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 4.796 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 4.797 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 4.797 * [backup-simplify]: Simplify (- 0) into 0 4.797 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 4.797 * [taylor]: Taking taylor expansion of R in lambda2 4.797 * [backup-simplify]: Simplify R into R 4.797 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 4.797 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R) 4.797 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R)) into 0 4.798 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) 0) into 0 4.798 * [backup-simplify]: Simplify (- 0) into 0 4.798 * [taylor]: Taking taylor expansion of 0 in phi1 4.798 * [backup-simplify]: Simplify 0 into 0 4.798 * [taylor]: Taking taylor expansion of 0 in phi2 4.798 * [backup-simplify]: Simplify 0 into 0 4.798 * [taylor]: Taking taylor expansion of 0 in R 4.798 * [backup-simplify]: Simplify 0 into 0 4.798 * [backup-simplify]: Simplify 0 into 0 4.798 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 0) (* 0 R)) into 0 4.798 * [taylor]: Taking taylor expansion of 0 in phi1 4.798 * [backup-simplify]: Simplify 0 into 0 4.798 * [taylor]: Taking taylor expansion of 0 in phi2 4.798 * [backup-simplify]: Simplify 0 into 0 4.798 * [taylor]: Taking taylor expansion of 0 in R 4.798 * [backup-simplify]: Simplify 0 into 0 4.798 * [backup-simplify]: Simplify 0 into 0 4.799 * [backup-simplify]: Simplify (+ (* phi2 0) (* -1 R)) into (- R) 4.799 * [taylor]: Taking taylor expansion of (- R) in phi2 4.799 * [taylor]: Taking taylor expansion of R in phi2 4.799 * [backup-simplify]: Simplify R into R 4.799 * [backup-simplify]: Simplify (- R) into (- R) 4.799 * [taylor]: Taking taylor expansion of (- R) in R 4.799 * [taylor]: Taking taylor expansion of R in R 4.799 * [backup-simplify]: Simplify 0 into 0 4.799 * [backup-simplify]: Simplify 1 into 1 4.799 * [backup-simplify]: Simplify (- 0) into 0 4.799 * [backup-simplify]: Simplify 0 into 0 4.799 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 4.799 * [taylor]: Taking taylor expansion of R in R 4.799 * [backup-simplify]: Simplify 0 into 0 4.799 * [backup-simplify]: Simplify 1 into 1 4.799 * [backup-simplify]: Simplify 0 into 0 4.799 * [backup-simplify]: Simplify 0 into 0 4.799 * [backup-simplify]: Simplify 0 into 0 4.800 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (- (/ 1 phi1) (/ 1 phi2))) (/ 1 R)) into (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) 4.800 * [approximate]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in (lambda1 lambda2 phi1 phi2 R) around 0 4.800 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in R 4.800 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in R 4.800 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 4.800 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in R 4.800 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R 4.800 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R 4.800 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R 4.800 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 4.800 * [taylor]: Taking taylor expansion of lambda1 in R 4.800 * [backup-simplify]: Simplify lambda1 into lambda1 4.800 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.800 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 4.800 * [taylor]: Taking taylor expansion of lambda2 in R 4.800 * [backup-simplify]: Simplify lambda2 into lambda2 4.800 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.800 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 4.800 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 4.800 * [taylor]: Taking taylor expansion of 0.5 in R 4.800 * [backup-simplify]: Simplify 0.5 into 0.5 4.800 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 4.800 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 4.800 * [taylor]: Taking taylor expansion of phi1 in R 4.800 * [backup-simplify]: Simplify phi1 into phi1 4.800 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.800 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 4.800 * [taylor]: Taking taylor expansion of phi2 in R 4.800 * [backup-simplify]: Simplify phi2 into phi2 4.800 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.800 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.801 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.801 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.801 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.801 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R 4.801 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R 4.801 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 4.801 * [taylor]: Taking taylor expansion of lambda1 in R 4.801 * [backup-simplify]: Simplify lambda1 into lambda1 4.801 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.801 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 4.801 * [taylor]: Taking taylor expansion of lambda2 in R 4.801 * [backup-simplify]: Simplify lambda2 into lambda2 4.801 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.801 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 4.801 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 4.801 * [taylor]: Taking taylor expansion of 0.5 in R 4.801 * [backup-simplify]: Simplify 0.5 into 0.5 4.801 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 4.801 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 4.801 * [taylor]: Taking taylor expansion of phi1 in R 4.801 * [backup-simplify]: Simplify phi1 into phi1 4.801 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.801 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 4.801 * [taylor]: Taking taylor expansion of phi2 in R 4.801 * [backup-simplify]: Simplify phi2 into phi2 4.801 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.801 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.801 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.801 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.802 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.802 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in R 4.802 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R 4.802 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 4.802 * [taylor]: Taking taylor expansion of phi1 in R 4.802 * [backup-simplify]: Simplify phi1 into phi1 4.802 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.802 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 4.802 * [taylor]: Taking taylor expansion of phi2 in R 4.802 * [backup-simplify]: Simplify phi2 into phi2 4.802 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.802 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R 4.802 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 4.802 * [taylor]: Taking taylor expansion of phi1 in R 4.802 * [backup-simplify]: Simplify phi1 into phi1 4.802 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.802 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 4.802 * [taylor]: Taking taylor expansion of phi2 in R 4.802 * [backup-simplify]: Simplify phi2 into phi2 4.802 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.802 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 4.802 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 4.802 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.802 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.803 * [backup-simplify]: Simplify (- 0) into 0 4.803 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.803 * [backup-simplify]: Simplify (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.803 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 4.803 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 4.803 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.803 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.803 * [backup-simplify]: Simplify (- 0) into 0 4.804 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.804 * [backup-simplify]: Simplify (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.804 * [backup-simplify]: Simplify (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 4.804 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 4.804 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 4.805 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 4.805 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 4.805 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2) 4.806 * [backup-simplify]: Simplify (+ (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ (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))))) 4.808 * [backup-simplify]: Simplify (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)))))) 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)))))) 4.809 * [backup-simplify]: Simplify (+ 0) into 0 4.809 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.810 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.810 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.810 * [backup-simplify]: Simplify (+ 0 0) into 0 4.811 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.812 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.812 * [backup-simplify]: Simplify (- 0) into 0 4.812 * [backup-simplify]: Simplify (+ 0 0) into 0 4.813 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 4.813 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 4.813 * [backup-simplify]: Simplify (- 0) into 0 4.813 * [backup-simplify]: Simplify (+ 0 0) into 0 4.813 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda1) (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.814 * [backup-simplify]: Simplify (+ 0) into 0 4.814 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.814 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.814 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.814 * [backup-simplify]: Simplify (+ 0 0) into 0 4.815 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.815 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.816 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.816 * [backup-simplify]: Simplify (- 0) into 0 4.816 * [backup-simplify]: Simplify (+ 0 0) into 0 4.816 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 4.816 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 4.816 * [backup-simplify]: Simplify (- 0) into 0 4.817 * [backup-simplify]: Simplify (+ 0 0) into 0 4.817 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda1) (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.817 * [backup-simplify]: Simplify (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (* 0 (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.817 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.817 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.818 * [backup-simplify]: Simplify (- 0) into 0 4.818 * [backup-simplify]: Simplify (+ 0 0) into 0 4.818 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.818 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.818 * [backup-simplify]: Simplify (- 0) into 0 4.819 * [backup-simplify]: Simplify (+ 0 0) into 0 4.819 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0 4.819 * [backup-simplify]: Simplify (+ 0 0) into 0 4.820 * [backup-simplify]: Simplify (/ 0 (* 2 (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)))))))) into 0 4.821 * [taylor]: Taking taylor expansion of R in R 4.821 * [backup-simplify]: Simplify 0 into 0 4.821 * [backup-simplify]: Simplify 1 into 1 4.822 * [backup-simplify]: Simplify (/ (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)))))) 1) 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)))))) 4.822 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi2 4.822 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in phi2 4.822 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 4.822 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi2 4.822 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 4.822 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.822 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 4.822 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 4.822 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.822 * [backup-simplify]: Simplify lambda1 into lambda1 4.822 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.822 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 4.822 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.822 * [backup-simplify]: Simplify lambda2 into lambda2 4.822 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.822 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.822 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.822 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.822 * [backup-simplify]: Simplify 0.5 into 0.5 4.822 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.822 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.822 * [taylor]: Taking taylor expansion of phi1 in phi2 4.823 * [backup-simplify]: Simplify phi1 into phi1 4.823 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.823 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.823 * [taylor]: Taking taylor expansion of phi2 in phi2 4.823 * [backup-simplify]: Simplify 0 into 0 4.823 * [backup-simplify]: Simplify 1 into 1 4.823 * [backup-simplify]: Simplify (/ 1 1) into 1 4.823 * [backup-simplify]: Simplify (+ 0 1) into 1 4.824 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.824 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.824 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 4.824 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 4.824 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 4.824 * [taylor]: Taking taylor expansion of lambda1 in phi2 4.824 * [backup-simplify]: Simplify lambda1 into lambda1 4.824 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.824 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 4.824 * [taylor]: Taking taylor expansion of lambda2 in phi2 4.824 * [backup-simplify]: Simplify lambda2 into lambda2 4.824 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.824 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.824 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.824 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.824 * [backup-simplify]: Simplify 0.5 into 0.5 4.824 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.824 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.824 * [taylor]: Taking taylor expansion of phi1 in phi2 4.824 * [backup-simplify]: Simplify phi1 into phi1 4.824 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.824 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.824 * [taylor]: Taking taylor expansion of phi2 in phi2 4.824 * [backup-simplify]: Simplify 0 into 0 4.824 * [backup-simplify]: Simplify 1 into 1 4.824 * [backup-simplify]: Simplify (/ 1 1) into 1 4.825 * [backup-simplify]: Simplify (+ 0 1) into 1 4.825 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.825 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.825 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi2 4.825 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2 4.825 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.825 * [taylor]: Taking taylor expansion of phi1 in phi2 4.825 * [backup-simplify]: Simplify phi1 into phi1 4.825 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.825 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.825 * [taylor]: Taking taylor expansion of phi2 in phi2 4.825 * [backup-simplify]: Simplify 0 into 0 4.825 * [backup-simplify]: Simplify 1 into 1 4.826 * [backup-simplify]: Simplify (/ 1 1) into 1 4.826 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2 4.826 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.826 * [taylor]: Taking taylor expansion of phi1 in phi2 4.826 * [backup-simplify]: Simplify phi1 into phi1 4.826 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.826 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.826 * [taylor]: Taking taylor expansion of phi2 in phi2 4.826 * [backup-simplify]: Simplify 0 into 0 4.826 * [backup-simplify]: Simplify 1 into 1 4.826 * [backup-simplify]: Simplify (/ 1 1) into 1 4.826 * [backup-simplify]: Simplify (- 1) into -1 4.826 * [backup-simplify]: Simplify (+ 0 -1) into -1 4.829 * [backup-simplify]: Simplify (- 1) into -1 4.830 * [backup-simplify]: Simplify (+ 0 -1) into -1 4.830 * [backup-simplify]: Simplify (* -1 -1) into 1 4.831 * [backup-simplify]: Simplify (+ 0 1) into 1 4.831 * [backup-simplify]: Simplify (sqrt 1) into 1 4.832 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.832 * [backup-simplify]: Simplify (- 0) into 0 4.832 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1) 4.833 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.833 * [backup-simplify]: Simplify (- 0) into 0 4.833 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1) 4.833 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi1)) (* (/ 1 phi1) -1)) into (- (* 2 (/ 1 phi1))) 4.833 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 4.834 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 4.834 * [taylor]: Taking taylor expansion of R in phi2 4.834 * [backup-simplify]: Simplify R into R 4.834 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 4.834 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi1 4.834 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in phi1 4.834 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 4.834 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi1 4.834 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 4.834 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 4.834 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 4.834 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 4.834 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.834 * [backup-simplify]: Simplify lambda1 into lambda1 4.834 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.834 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 4.834 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.834 * [backup-simplify]: Simplify lambda2 into lambda2 4.834 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.834 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.834 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.834 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.834 * [backup-simplify]: Simplify 0.5 into 0.5 4.834 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.834 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.834 * [taylor]: Taking taylor expansion of phi1 in phi1 4.834 * [backup-simplify]: Simplify 0 into 0 4.834 * [backup-simplify]: Simplify 1 into 1 4.835 * [backup-simplify]: Simplify (/ 1 1) into 1 4.835 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.835 * [taylor]: Taking taylor expansion of phi2 in phi1 4.835 * [backup-simplify]: Simplify phi2 into phi2 4.835 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.835 * [backup-simplify]: Simplify (+ 1 0) into 1 4.835 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.835 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.835 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 4.835 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 4.835 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 4.835 * [taylor]: Taking taylor expansion of lambda1 in phi1 4.835 * [backup-simplify]: Simplify lambda1 into lambda1 4.835 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.835 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 4.835 * [taylor]: Taking taylor expansion of lambda2 in phi1 4.836 * [backup-simplify]: Simplify lambda2 into lambda2 4.836 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.836 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.836 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.836 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.836 * [backup-simplify]: Simplify 0.5 into 0.5 4.836 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.836 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.836 * [taylor]: Taking taylor expansion of phi1 in phi1 4.836 * [backup-simplify]: Simplify 0 into 0 4.836 * [backup-simplify]: Simplify 1 into 1 4.836 * [backup-simplify]: Simplify (/ 1 1) into 1 4.836 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.836 * [taylor]: Taking taylor expansion of phi2 in phi1 4.836 * [backup-simplify]: Simplify phi2 into phi2 4.836 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.836 * [backup-simplify]: Simplify (+ 1 0) into 1 4.837 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.837 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.837 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi1 4.837 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1 4.837 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.837 * [taylor]: Taking taylor expansion of phi1 in phi1 4.837 * [backup-simplify]: Simplify 0 into 0 4.837 * [backup-simplify]: Simplify 1 into 1 4.837 * [backup-simplify]: Simplify (/ 1 1) into 1 4.837 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.837 * [taylor]: Taking taylor expansion of phi2 in phi1 4.837 * [backup-simplify]: Simplify phi2 into phi2 4.837 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.837 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1 4.837 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.837 * [taylor]: Taking taylor expansion of phi1 in phi1 4.837 * [backup-simplify]: Simplify 0 into 0 4.837 * [backup-simplify]: Simplify 1 into 1 4.838 * [backup-simplify]: Simplify (/ 1 1) into 1 4.838 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.838 * [taylor]: Taking taylor expansion of phi2 in phi1 4.838 * [backup-simplify]: Simplify phi2 into phi2 4.838 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.838 * [backup-simplify]: Simplify (+ 1 0) into 1 4.838 * [backup-simplify]: Simplify (+ 1 0) into 1 4.838 * [backup-simplify]: Simplify (* 1 1) into 1 4.839 * [backup-simplify]: Simplify (+ 0 1) into 1 4.839 * [backup-simplify]: Simplify (sqrt 1) into 1 4.839 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.839 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 4.839 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2)) 4.840 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.840 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 4.840 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2)) 4.840 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi2))) (* (- (/ 1 phi2)) 1)) into (- (* 2 (/ 1 phi2))) 4.841 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 4.841 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 4.841 * [taylor]: Taking taylor expansion of R in phi1 4.841 * [backup-simplify]: Simplify R into R 4.841 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 4.841 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda2 4.841 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda2 4.842 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 4.842 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.842 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 4.842 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 4.842 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 4.842 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 4.842 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.842 * [backup-simplify]: Simplify lambda1 into lambda1 4.842 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.842 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 4.842 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.842 * [backup-simplify]: Simplify 0 into 0 4.842 * [backup-simplify]: Simplify 1 into 1 4.842 * [backup-simplify]: Simplify (/ 1 1) into 1 4.842 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.842 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.842 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.842 * [backup-simplify]: Simplify 0.5 into 0.5 4.842 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.842 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.843 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.843 * [backup-simplify]: Simplify phi1 into phi1 4.843 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.843 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.843 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.843 * [backup-simplify]: Simplify phi2 into phi2 4.843 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.843 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.843 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.843 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.843 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.843 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 4.843 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 4.844 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 4.844 * [taylor]: Taking taylor expansion of lambda1 in lambda2 4.844 * [backup-simplify]: Simplify lambda1 into lambda1 4.844 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 4.844 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 4.844 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.844 * [backup-simplify]: Simplify 0 into 0 4.844 * [backup-simplify]: Simplify 1 into 1 4.844 * [backup-simplify]: Simplify (/ 1 1) into 1 4.844 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.844 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.844 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.844 * [backup-simplify]: Simplify 0.5 into 0.5 4.844 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.844 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.844 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.844 * [backup-simplify]: Simplify phi1 into phi1 4.844 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.844 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.844 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.844 * [backup-simplify]: Simplify phi2 into phi2 4.845 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.845 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.845 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.845 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.845 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.845 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda2 4.845 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2 4.845 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.845 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.845 * [backup-simplify]: Simplify phi1 into phi1 4.845 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.845 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.845 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.845 * [backup-simplify]: Simplify phi2 into phi2 4.845 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.845 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2 4.845 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.845 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.845 * [backup-simplify]: Simplify phi1 into phi1 4.846 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.846 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.846 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.846 * [backup-simplify]: Simplify phi2 into phi2 4.846 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.846 * [backup-simplify]: Simplify (- 1) into -1 4.846 * [backup-simplify]: Simplify (+ 0 -1) into -1 4.847 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.847 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.847 * [backup-simplify]: Simplify (- 0) into 0 4.847 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.848 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.848 * [backup-simplify]: Simplify (- 1) into -1 4.848 * [backup-simplify]: Simplify (+ 0 -1) into -1 4.848 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.849 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.849 * [backup-simplify]: Simplify (- 0) into 0 4.849 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.849 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.850 * [backup-simplify]: Simplify (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.850 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.850 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.851 * [backup-simplify]: Simplify (+ 0) into 0 4.851 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.851 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.852 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.852 * [backup-simplify]: Simplify (+ 0 0) into 0 4.852 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.853 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.854 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.854 * [backup-simplify]: Simplify (- 0) into 0 4.854 * [backup-simplify]: Simplify (+ 0 0) into 0 4.855 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.855 * [backup-simplify]: Simplify (- 0) into 0 4.856 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 4.856 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda1) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 4.857 * [backup-simplify]: Simplify (+ 0) into 0 4.857 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.857 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.857 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.858 * [backup-simplify]: Simplify (+ 0 0) into 0 4.858 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.859 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.860 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.860 * [backup-simplify]: Simplify (- 0) into 0 4.860 * [backup-simplify]: Simplify (+ 0 0) into 0 4.861 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.861 * [backup-simplify]: Simplify (- 0) into 0 4.861 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 4.862 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda1) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 4.863 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.864 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 4.864 * [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)) 4.864 * [taylor]: Taking taylor expansion of R in lambda2 4.864 * [backup-simplify]: Simplify R into R 4.864 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.864 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1 4.864 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 4.865 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 4.865 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.865 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 4.865 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 4.865 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 4.865 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 4.865 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.865 * [backup-simplify]: Simplify 0 into 0 4.865 * [backup-simplify]: Simplify 1 into 1 4.865 * [backup-simplify]: Simplify (/ 1 1) into 1 4.865 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 4.865 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.865 * [backup-simplify]: Simplify lambda2 into lambda2 4.865 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.865 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.865 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.865 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.865 * [backup-simplify]: Simplify 0.5 into 0.5 4.865 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.865 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.865 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.865 * [backup-simplify]: Simplify phi1 into phi1 4.865 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.865 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.865 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.865 * [backup-simplify]: Simplify phi2 into phi2 4.865 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.865 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.866 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.866 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.866 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.866 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 4.866 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 4.866 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 4.866 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.866 * [backup-simplify]: Simplify 0 into 0 4.866 * [backup-simplify]: Simplify 1 into 1 4.866 * [backup-simplify]: Simplify (/ 1 1) into 1 4.866 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 4.866 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.866 * [backup-simplify]: Simplify lambda2 into lambda2 4.866 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.866 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.866 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.866 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.866 * [backup-simplify]: Simplify 0.5 into 0.5 4.866 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.866 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.866 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.866 * [backup-simplify]: Simplify phi1 into phi1 4.866 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.866 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.866 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.866 * [backup-simplify]: Simplify phi2 into phi2 4.866 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.867 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.867 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.867 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.867 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.867 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 4.867 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 4.867 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.867 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.867 * [backup-simplify]: Simplify phi1 into phi1 4.867 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.867 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.867 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.867 * [backup-simplify]: Simplify phi2 into phi2 4.867 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.867 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 4.867 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.867 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.867 * [backup-simplify]: Simplify phi1 into phi1 4.867 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.867 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.867 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.867 * [backup-simplify]: Simplify phi2 into phi2 4.867 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.867 * [backup-simplify]: Simplify (+ 1 0) into 1 4.868 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.868 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.868 * [backup-simplify]: Simplify (- 0) into 0 4.868 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.868 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.869 * [backup-simplify]: Simplify (+ 1 0) into 1 4.869 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.869 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.869 * [backup-simplify]: Simplify (- 0) into 0 4.869 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.869 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.869 * [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) 4.870 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.870 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.870 * [backup-simplify]: Simplify (+ 0) into 0 4.870 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.871 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.871 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.871 * [backup-simplify]: Simplify (+ 0 0) into 0 4.871 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.872 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.872 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.872 * [backup-simplify]: Simplify (- 0) into 0 4.873 * [backup-simplify]: Simplify (+ 0 0) into 0 4.873 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.873 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 4.873 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 4.874 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 4.874 * [backup-simplify]: Simplify (+ 0) into 0 4.874 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.874 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.874 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.875 * [backup-simplify]: Simplify (+ 0 0) into 0 4.875 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.876 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.876 * [backup-simplify]: Simplify (- 0) into 0 4.876 * [backup-simplify]: Simplify (+ 0 0) into 0 4.877 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.877 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 4.877 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 4.877 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 4.878 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.878 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.879 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 4.879 * [taylor]: Taking taylor expansion of R in lambda1 4.879 * [backup-simplify]: Simplify R into R 4.879 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.879 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1 4.879 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 4.879 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 4.879 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.879 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 4.879 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 4.879 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 4.879 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 4.879 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.879 * [backup-simplify]: Simplify 0 into 0 4.879 * [backup-simplify]: Simplify 1 into 1 4.880 * [backup-simplify]: Simplify (/ 1 1) into 1 4.880 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 4.880 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.880 * [backup-simplify]: Simplify lambda2 into lambda2 4.880 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.880 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.880 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.880 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.880 * [backup-simplify]: Simplify 0.5 into 0.5 4.880 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.880 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.880 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.880 * [backup-simplify]: Simplify phi1 into phi1 4.880 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.880 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.880 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.880 * [backup-simplify]: Simplify phi2 into phi2 4.880 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.880 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.880 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.880 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.880 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.880 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 4.880 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 4.880 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 4.880 * [taylor]: Taking taylor expansion of lambda1 in lambda1 4.880 * [backup-simplify]: Simplify 0 into 0 4.880 * [backup-simplify]: Simplify 1 into 1 4.881 * [backup-simplify]: Simplify (/ 1 1) into 1 4.881 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 4.881 * [taylor]: Taking taylor expansion of lambda2 in lambda1 4.881 * [backup-simplify]: Simplify lambda2 into lambda2 4.881 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 4.881 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 4.881 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 4.881 * [taylor]: Taking taylor expansion of 0.5 in lambda1 4.881 * [backup-simplify]: Simplify 0.5 into 0.5 4.881 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 4.881 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.881 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.881 * [backup-simplify]: Simplify phi1 into phi1 4.881 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.881 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.881 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.881 * [backup-simplify]: Simplify phi2 into phi2 4.881 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.881 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.881 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.881 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.881 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.881 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 4.881 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 4.881 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.881 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.881 * [backup-simplify]: Simplify phi1 into phi1 4.881 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.881 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.881 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.882 * [backup-simplify]: Simplify phi2 into phi2 4.882 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.882 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 4.882 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 4.882 * [taylor]: Taking taylor expansion of phi1 in lambda1 4.882 * [backup-simplify]: Simplify phi1 into phi1 4.882 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.882 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 4.882 * [taylor]: Taking taylor expansion of phi2 in lambda1 4.882 * [backup-simplify]: Simplify phi2 into phi2 4.882 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.882 * [backup-simplify]: Simplify (+ 1 0) into 1 4.882 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.882 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.883 * [backup-simplify]: Simplify (- 0) into 0 4.883 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.883 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.883 * [backup-simplify]: Simplify (+ 1 0) into 1 4.883 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.883 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.884 * [backup-simplify]: Simplify (- 0) into 0 4.884 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.884 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.884 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.884 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 4.885 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.885 * [backup-simplify]: Simplify (+ 0) into 0 4.885 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.885 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.885 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.886 * [backup-simplify]: Simplify (+ 0 0) into 0 4.886 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.886 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.887 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.887 * [backup-simplify]: Simplify (- 0) into 0 4.887 * [backup-simplify]: Simplify (+ 0 0) into 0 4.888 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.888 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 4.888 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 4.888 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 4.889 * [backup-simplify]: Simplify (+ 0) into 0 4.889 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.889 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.889 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.889 * [backup-simplify]: Simplify (+ 0 0) into 0 4.890 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.890 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.891 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.891 * [backup-simplify]: Simplify (- 0) into 0 4.891 * [backup-simplify]: Simplify (+ 0 0) into 0 4.891 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 4.892 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 4.892 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 4.892 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 4.894 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.894 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 4.895 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 4.895 * [taylor]: Taking taylor expansion of R in lambda1 4.895 * [backup-simplify]: Simplify R into R 4.895 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.895 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 4.895 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.895 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.895 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.895 * [backup-simplify]: Simplify 0.5 into 0.5 4.896 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.896 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.896 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.896 * [backup-simplify]: Simplify phi1 into phi1 4.896 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.896 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.896 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.896 * [backup-simplify]: Simplify phi2 into phi2 4.896 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.896 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.896 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.896 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.896 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.896 * [taylor]: Taking taylor expansion of R in lambda2 4.896 * [backup-simplify]: Simplify R into R 4.897 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.897 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.897 * [backup-simplify]: Simplify (- 0) into 0 4.897 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.898 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.898 * [backup-simplify]: Simplify (- (/ (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) 4.898 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) in lambda2 4.898 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) in lambda2 4.898 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.898 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.898 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.898 * [backup-simplify]: Simplify 0.5 into 0.5 4.898 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.898 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.899 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.899 * [backup-simplify]: Simplify phi1 into phi1 4.899 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.899 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.899 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.899 * [backup-simplify]: Simplify phi2 into phi2 4.899 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.899 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.899 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.899 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.899 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.899 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2 4.899 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.899 * [backup-simplify]: Simplify 0 into 0 4.899 * [backup-simplify]: Simplify 1 into 1 4.899 * [taylor]: Taking taylor expansion of R in lambda2 4.899 * [backup-simplify]: Simplify R into R 4.900 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.900 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.900 * [backup-simplify]: Simplify (- 0) into 0 4.900 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.901 * [backup-simplify]: Simplify (* 0 R) into 0 4.901 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 4.901 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.901 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 4.901 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1 4.902 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 4.902 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.902 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.902 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.902 * [backup-simplify]: Simplify 0.5 into 0.5 4.902 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.902 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.902 * [taylor]: Taking taylor expansion of phi1 in phi1 4.902 * [backup-simplify]: Simplify 0 into 0 4.902 * [backup-simplify]: Simplify 1 into 1 4.902 * [backup-simplify]: Simplify (/ 1 1) into 1 4.902 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.902 * [taylor]: Taking taylor expansion of phi2 in phi1 4.902 * [backup-simplify]: Simplify phi2 into phi2 4.902 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.903 * [backup-simplify]: Simplify (+ 1 0) into 1 4.903 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.903 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.903 * [taylor]: Taking taylor expansion of R in phi1 4.903 * [backup-simplify]: Simplify R into R 4.904 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.904 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 4.904 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 4.904 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 4.904 * [taylor]: Taking taylor expansion of 0.5 in phi1 4.904 * [backup-simplify]: Simplify 0.5 into 0.5 4.904 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 4.904 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 4.904 * [taylor]: Taking taylor expansion of phi1 in phi1 4.904 * [backup-simplify]: Simplify 0 into 0 4.904 * [backup-simplify]: Simplify 1 into 1 4.904 * [backup-simplify]: Simplify (/ 1 1) into 1 4.904 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 4.904 * [taylor]: Taking taylor expansion of phi2 in phi1 4.904 * [backup-simplify]: Simplify phi2 into phi2 4.904 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.905 * [backup-simplify]: Simplify (+ 1 0) into 1 4.905 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.905 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.905 * [taylor]: Taking taylor expansion of R in phi1 4.906 * [backup-simplify]: Simplify R into R 4.906 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.907 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.908 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.908 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.908 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.908 * [backup-simplify]: Simplify (+ 0 0) into 0 4.909 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.910 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.911 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.911 * [backup-simplify]: Simplify (- 0) into 0 4.911 * [backup-simplify]: Simplify (+ 0 0) into 0 4.912 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.912 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 4.913 * [backup-simplify]: Simplify (- 0) into 0 4.913 * [backup-simplify]: Simplify (+ 0 0) into 0 4.914 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.915 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 4.916 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 4.916 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.916 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.916 * [backup-simplify]: Simplify (+ 0 0) into 0 4.917 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 4.918 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 4.919 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 4.919 * [backup-simplify]: Simplify (- 0) into 0 4.920 * [backup-simplify]: Simplify (+ 0 0) into 0 4.921 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.921 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 4.921 * [backup-simplify]: Simplify (- 0) into 0 4.922 * [backup-simplify]: Simplify (+ 0 0) into 0 4.922 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 4.923 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 4.923 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 4.924 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 4.924 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 4.924 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 4.924 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2) 4.925 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) 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)))) 4.927 * [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)))))) 4.929 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) 4.929 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2 4.929 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2 4.929 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2 4.929 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.929 * [backup-simplify]: Simplify 1/2 into 1/2 4.929 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2 4.929 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 4.930 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.930 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.930 * [backup-simplify]: Simplify phi2 into phi2 4.930 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 4.930 * [taylor]: Taking taylor expansion of R in lambda2 4.930 * [backup-simplify]: Simplify R into R 4.930 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.930 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.930 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.930 * [backup-simplify]: Simplify 0.5 into 0.5 4.930 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.930 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.930 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.930 * [backup-simplify]: Simplify phi1 into phi1 4.930 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.930 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.930 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.930 * [backup-simplify]: Simplify phi2 into phi2 4.930 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.930 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.930 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.931 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.931 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.931 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.931 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.931 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.932 * [backup-simplify]: Simplify (- 0) into 0 4.932 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.933 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.933 * [backup-simplify]: Simplify (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 4.933 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 4.933 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2 4.933 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.933 * [backup-simplify]: Simplify 1/2 into 1/2 4.933 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2 4.933 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 4.933 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.934 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.934 * [backup-simplify]: Simplify phi1 into phi1 4.934 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 4.934 * [taylor]: Taking taylor expansion of R in lambda2 4.934 * [backup-simplify]: Simplify R into R 4.934 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.934 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.934 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.934 * [backup-simplify]: Simplify 0.5 into 0.5 4.934 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.934 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.934 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.934 * [backup-simplify]: Simplify phi1 into phi1 4.934 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.934 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.934 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.934 * [backup-simplify]: Simplify phi2 into phi2 4.934 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.934 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.934 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.934 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.935 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.935 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.935 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.935 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.936 * [backup-simplify]: Simplify (- 0) into 0 4.936 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.936 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.937 * [backup-simplify]: Simplify (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi1 2))) 4.937 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi1 2)))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))) 4.937 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2 4.937 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2 4.937 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.937 * [backup-simplify]: Simplify phi2 into phi2 4.937 * [taylor]: Taking taylor expansion of (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 4.937 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.937 * [backup-simplify]: Simplify phi1 into phi1 4.937 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 4.937 * [taylor]: Taking taylor expansion of R in lambda2 4.937 * [backup-simplify]: Simplify R into R 4.937 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.937 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.938 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.938 * [backup-simplify]: Simplify 0.5 into 0.5 4.938 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.938 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.938 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.938 * [backup-simplify]: Simplify phi1 into phi1 4.938 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.938 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.938 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.938 * [backup-simplify]: Simplify phi2 into phi2 4.938 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.938 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.938 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.938 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.939 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.939 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.939 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.940 * [backup-simplify]: Simplify (- 0) into 0 4.940 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.940 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.940 * [backup-simplify]: Simplify (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)) 4.941 * [backup-simplify]: Simplify (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))) into (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R))) 4.941 * [backup-simplify]: Simplify (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R)))) into (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 4.941 * [backup-simplify]: Simplify (+ 0) into 0 4.942 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.942 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.943 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.943 * [backup-simplify]: Simplify (+ 0 0) into 0 4.944 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.945 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.946 * [backup-simplify]: Simplify (- 0) into 0 4.946 * [backup-simplify]: Simplify (+ 0 0) into 0 4.947 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0 4.947 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 4.948 * [backup-simplify]: Simplify (- 0) into 0 4.948 * [taylor]: Taking taylor expansion of 0 in phi1 4.948 * [backup-simplify]: Simplify 0 into 0 4.948 * [backup-simplify]: Simplify (+ 0) into 0 4.949 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.949 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.949 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.949 * [backup-simplify]: Simplify (+ 0 0) into 0 4.950 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.951 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.952 * [backup-simplify]: Simplify (- 0) into 0 4.952 * [backup-simplify]: Simplify (+ 0 0) into 0 4.952 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 4.952 * [taylor]: Taking taylor expansion of 0 in phi1 4.952 * [backup-simplify]: Simplify 0 into 0 4.952 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 4.952 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 4.952 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 4.952 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.952 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.952 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.952 * [backup-simplify]: Simplify 0.5 into 0.5 4.952 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.952 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.952 * [taylor]: Taking taylor expansion of phi1 in phi2 4.953 * [backup-simplify]: Simplify phi1 into phi1 4.953 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.953 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.953 * [taylor]: Taking taylor expansion of phi2 in phi2 4.953 * [backup-simplify]: Simplify 0 into 0 4.953 * [backup-simplify]: Simplify 1 into 1 4.953 * [backup-simplify]: Simplify (/ 1 1) into 1 4.953 * [backup-simplify]: Simplify (+ 0 1) into 1 4.954 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.954 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.954 * [taylor]: Taking taylor expansion of R in phi2 4.954 * [backup-simplify]: Simplify R into R 4.954 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.954 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 4.954 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 4.954 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 4.954 * [taylor]: Taking taylor expansion of 0.5 in phi2 4.954 * [backup-simplify]: Simplify 0.5 into 0.5 4.954 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 4.954 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 4.954 * [taylor]: Taking taylor expansion of phi1 in phi2 4.954 * [backup-simplify]: Simplify phi1 into phi1 4.954 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.954 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 4.954 * [taylor]: Taking taylor expansion of phi2 in phi2 4.954 * [backup-simplify]: Simplify 0 into 0 4.954 * [backup-simplify]: Simplify 1 into 1 4.954 * [backup-simplify]: Simplify (/ 1 1) into 1 4.955 * [backup-simplify]: Simplify (+ 0 1) into 1 4.955 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 4.955 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.955 * [taylor]: Taking taylor expansion of R in phi2 4.955 * [backup-simplify]: Simplify R into R 4.955 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.956 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 4.957 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 4.958 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.958 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.958 * [backup-simplify]: Simplify (+ 0 0) into 0 4.959 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.960 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 4.960 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 4.961 * [backup-simplify]: Simplify (- 0) into 0 4.961 * [backup-simplify]: Simplify (+ 0 0) into 0 4.962 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.962 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 4.962 * [backup-simplify]: Simplify (- 0) into 0 4.962 * [backup-simplify]: Simplify (+ 0 0) into 0 4.963 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 4.966 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 4.967 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 4.968 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 4.968 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 4.968 * [backup-simplify]: Simplify (+ 0 0) into 0 4.969 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.970 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 4.970 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 4.971 * [backup-simplify]: Simplify (- 0) into 0 4.971 * [backup-simplify]: Simplify (+ 0 0) into 0 4.971 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 4.971 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 4.972 * [backup-simplify]: Simplify (- 0) into 0 4.972 * [backup-simplify]: Simplify (+ 0 0) into 0 4.973 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 4.973 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0) (+ (* 0 (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 4.973 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.973 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.973 * [backup-simplify]: Simplify (- 0) into 0 4.974 * [backup-simplify]: Simplify (+ 0 0) into 0 4.974 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.974 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.974 * [backup-simplify]: Simplify (- 0) into 0 4.974 * [backup-simplify]: Simplify (+ 0 0) into 0 4.975 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0 4.975 * [backup-simplify]: Simplify (+ 0 0) into 0 4.976 * [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)))))) 4.977 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)) (* (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))))) (/ 1 (* phi2 (* phi1 (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) 4.977 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))))) (/ 1 (* phi2 (* phi1 (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) in lambda2 4.977 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))))) in lambda2 4.978 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2 4.978 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.978 * [backup-simplify]: Simplify 1/2 into 1/2 4.978 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2 4.978 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2 4.978 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 4.978 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.978 * [backup-simplify]: Simplify phi1 into phi1 4.978 * [taylor]: Taking taylor expansion of (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 4.978 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.978 * [backup-simplify]: Simplify 0 into 0 4.978 * [backup-simplify]: Simplify 1 into 1 4.978 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 4.978 * [taylor]: Taking taylor expansion of R in lambda2 4.978 * [backup-simplify]: Simplify R into R 4.978 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.978 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.978 * [backup-simplify]: Simplify 0.5 into 0.5 4.978 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.978 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.978 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.978 * [backup-simplify]: Simplify phi1 into phi1 4.978 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.978 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.978 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.978 * [backup-simplify]: Simplify phi2 into phi2 4.978 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.978 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.978 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.978 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.978 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.978 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 4.979 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.979 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.979 * [backup-simplify]: Simplify (- 0) into 0 4.980 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.980 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.980 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 4.980 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0 4.980 * [backup-simplify]: Simplify (+ 0) into 0 4.981 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.981 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.981 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.981 * [backup-simplify]: Simplify (+ 0 0) into 0 4.982 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.982 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.983 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.983 * [backup-simplify]: Simplify (- 0) into 0 4.983 * [backup-simplify]: Simplify (+ 0 0) into 0 4.984 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.984 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.984 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 4.985 * [backup-simplify]: Simplify (+ (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* 0 0)) into (* R (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.985 * [backup-simplify]: Simplify (/ 1 (* R (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* R (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 4.985 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))))) in lambda2 4.985 * [taylor]: Taking taylor expansion of 1/2 in lambda2 4.985 * [backup-simplify]: Simplify 1/2 into 1/2 4.985 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) in lambda2 4.985 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) in lambda2 4.985 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 4.985 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.985 * [backup-simplify]: Simplify phi2 into phi2 4.985 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) in lambda2 4.985 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.985 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.985 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.985 * [backup-simplify]: Simplify 0.5 into 0.5 4.985 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.985 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.985 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.985 * [backup-simplify]: Simplify phi1 into phi1 4.985 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.985 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.985 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.985 * [backup-simplify]: Simplify phi2 into phi2 4.985 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.985 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.986 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.986 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.986 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.986 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2 4.986 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.986 * [backup-simplify]: Simplify 0 into 0 4.986 * [backup-simplify]: Simplify 1 into 1 4.986 * [taylor]: Taking taylor expansion of R in lambda2 4.986 * [backup-simplify]: Simplify R into R 4.986 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 4.986 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.986 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.986 * [backup-simplify]: Simplify (- 0) into 0 4.987 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.987 * [backup-simplify]: Simplify (* 0 R) into 0 4.987 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.987 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 4.987 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 4.987 * [backup-simplify]: Simplify (+ 0) into 0 4.988 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.988 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.988 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.988 * [backup-simplify]: Simplify (+ 0 0) into 0 4.989 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.989 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.989 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.990 * [backup-simplify]: Simplify (- 0) into 0 4.990 * [backup-simplify]: Simplify (+ 0 0) into 0 4.990 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (* 0 0)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.990 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 4.991 * [backup-simplify]: Simplify (+ (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 4.991 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 4.991 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2 4.991 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2 4.991 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.991 * [backup-simplify]: Simplify phi2 into phi2 4.991 * [taylor]: Taking taylor expansion of (* phi1 (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2 4.991 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.991 * [backup-simplify]: Simplify phi1 into phi1 4.991 * [taylor]: Taking taylor expansion of (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 4.991 * [taylor]: Taking taylor expansion of lambda2 in lambda2 4.991 * [backup-simplify]: Simplify 0 into 0 4.991 * [backup-simplify]: Simplify 1 into 1 4.991 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 4.991 * [taylor]: Taking taylor expansion of R in lambda2 4.991 * [backup-simplify]: Simplify R into R 4.991 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 4.991 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 4.991 * [taylor]: Taking taylor expansion of 0.5 in lambda2 4.991 * [backup-simplify]: Simplify 0.5 into 0.5 4.991 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 4.991 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 4.991 * [taylor]: Taking taylor expansion of phi1 in lambda2 4.991 * [backup-simplify]: Simplify phi1 into phi1 4.991 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 4.991 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 4.992 * [taylor]: Taking taylor expansion of phi2 in lambda2 4.992 * [backup-simplify]: Simplify phi2 into phi2 4.992 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 4.992 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 4.992 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 4.992 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.992 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.992 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.992 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 4.993 * [backup-simplify]: Simplify (- 0) into 0 4.993 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4.993 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 4.993 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 4.993 * [backup-simplify]: Simplify (* phi1 0) into 0 4.993 * [backup-simplify]: Simplify (* phi2 0) into 0 4.993 * [backup-simplify]: Simplify (+ 0) into 0 4.994 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 4.994 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 4.994 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 4.994 * [backup-simplify]: Simplify (+ 0 0) into 0 4.994 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 4.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 4.995 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 4.996 * [backup-simplify]: Simplify (- 0) into 0 4.996 * [backup-simplify]: Simplify (+ 0 0) into 0 4.996 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 4.996 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 4.997 * [backup-simplify]: Simplify (+ (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* 0 0)) into (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 4.997 * [backup-simplify]: Simplify (+ (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) (* 0 0)) into (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 4.997 * [backup-simplify]: Simplify (/ 1 (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R)))) 4.998 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))) 4.998 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 4.998 * [backup-simplify]: Simplify (+ (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))) (/ 1/2 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) 4.999 * [backup-simplify]: Simplify (- (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R))))) into (- (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))))) 4.999 * [backup-simplify]: Simplify (+ (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (- (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)))))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) 4.999 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in phi1 4.999 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in phi1 4.999 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi1 4.999 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.000 * [backup-simplify]: Simplify 1/2 into 1/2 5.000 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi1 5.000 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1 5.000 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.000 * [taylor]: Taking taylor expansion of phi2 in phi1 5.000 * [backup-simplify]: Simplify phi2 into phi2 5.000 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 5.000 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.000 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.000 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.000 * [backup-simplify]: Simplify 0.5 into 0.5 5.000 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.000 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.000 * [taylor]: Taking taylor expansion of phi1 in phi1 5.000 * [backup-simplify]: Simplify 0 into 0 5.000 * [backup-simplify]: Simplify 1 into 1 5.000 * [backup-simplify]: Simplify (/ 1 1) into 1 5.000 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.000 * [taylor]: Taking taylor expansion of phi2 in phi1 5.000 * [backup-simplify]: Simplify phi2 into phi2 5.000 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.000 * [backup-simplify]: Simplify (+ 1 0) into 1 5.001 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.001 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.001 * [taylor]: Taking taylor expansion of R in phi1 5.001 * [backup-simplify]: Simplify R into R 5.001 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.001 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.001 * [backup-simplify]: Simplify (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.001 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.002 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi1 5.002 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.002 * [backup-simplify]: Simplify 1/2 into 1/2 5.002 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1 5.002 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 5.002 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.002 * [taylor]: Taking taylor expansion of phi1 in phi1 5.002 * [backup-simplify]: Simplify 0 into 0 5.002 * [backup-simplify]: Simplify 1 into 1 5.002 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.002 * [taylor]: Taking taylor expansion of R in phi1 5.002 * [backup-simplify]: Simplify R into R 5.002 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.002 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.002 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.002 * [backup-simplify]: Simplify 0.5 into 0.5 5.002 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.002 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.002 * [taylor]: Taking taylor expansion of phi1 in phi1 5.002 * [backup-simplify]: Simplify 0 into 0 5.002 * [backup-simplify]: Simplify 1 into 1 5.002 * [backup-simplify]: Simplify (/ 1 1) into 1 5.002 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.002 * [taylor]: Taking taylor expansion of phi2 in phi1 5.002 * [backup-simplify]: Simplify phi2 into phi2 5.002 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.002 * [backup-simplify]: Simplify (+ 1 0) into 1 5.003 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.003 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.003 * [backup-simplify]: Simplify (* 1 1) into 1 5.003 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.003 * [backup-simplify]: Simplify (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.004 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.004 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi1 5.004 * [taylor]: Taking taylor expansion of (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1 5.004 * [taylor]: Taking taylor expansion of phi2 in phi1 5.004 * [backup-simplify]: Simplify phi2 into phi2 5.004 * [taylor]: Taking taylor expansion of (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 5.004 * [taylor]: Taking taylor expansion of R in phi1 5.004 * [backup-simplify]: Simplify R into R 5.004 * [taylor]: Taking taylor expansion of (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.004 * [taylor]: Taking taylor expansion of phi1 in phi1 5.004 * [backup-simplify]: Simplify 0 into 0 5.004 * [backup-simplify]: Simplify 1 into 1 5.004 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.004 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.004 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.004 * [backup-simplify]: Simplify 0.5 into 0.5 5.004 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.004 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.004 * [taylor]: Taking taylor expansion of phi1 in phi1 5.004 * [backup-simplify]: Simplify 0 into 0 5.004 * [backup-simplify]: Simplify 1 into 1 5.004 * [backup-simplify]: Simplify (/ 1 1) into 1 5.004 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.004 * [taylor]: Taking taylor expansion of phi2 in phi1 5.004 * [backup-simplify]: Simplify phi2 into phi2 5.004 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.005 * [backup-simplify]: Simplify (+ 1 0) into 1 5.005 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.005 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.005 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.005 * [backup-simplify]: Simplify (* R 0) into 0 5.005 * [backup-simplify]: Simplify (* phi2 0) into 0 5.005 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.006 * [backup-simplify]: Simplify (+ (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* 0 0)) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.006 * [backup-simplify]: Simplify (+ (* phi2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* 0 0)) into (* phi2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.006 * [backup-simplify]: Simplify (/ 1 (* phi2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.007 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.007 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.007 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0 5.008 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (/ 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into 0 5.008 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0 5.008 * [backup-simplify]: Simplify (+ 0 0) into 0 5.009 * [backup-simplify]: Simplify (- (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (- (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) 5.009 * [backup-simplify]: Simplify (+ 0 (- (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into (- (/ 1 (* phi2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 5.009 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi2 5.009 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 5.009 * [taylor]: Taking taylor expansion of (* phi2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.009 * [taylor]: Taking taylor expansion of phi2 in phi2 5.009 * [backup-simplify]: Simplify 0 into 0 5.009 * [backup-simplify]: Simplify 1 into 1 5.009 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.009 * [taylor]: Taking taylor expansion of R in phi2 5.009 * [backup-simplify]: Simplify R into R 5.009 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.009 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.009 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.009 * [backup-simplify]: Simplify 0.5 into 0.5 5.009 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.009 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.009 * [taylor]: Taking taylor expansion of phi1 in phi2 5.009 * [backup-simplify]: Simplify phi1 into phi1 5.009 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.009 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.009 * [taylor]: Taking taylor expansion of phi2 in phi2 5.009 * [backup-simplify]: Simplify 0 into 0 5.009 * [backup-simplify]: Simplify 1 into 1 5.009 * [backup-simplify]: Simplify (/ 1 1) into 1 5.010 * [backup-simplify]: Simplify (+ 0 1) into 1 5.010 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.010 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.010 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.010 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 5.010 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.011 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.011 * [backup-simplify]: Simplify (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.011 * [backup-simplify]: Simplify (- (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.011 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in R 5.011 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R 5.011 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R 5.011 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 5.011 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 5.011 * [taylor]: Taking taylor expansion of 0.5 in R 5.011 * [backup-simplify]: Simplify 0.5 into 0.5 5.011 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 5.011 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 5.011 * [taylor]: Taking taylor expansion of phi1 in R 5.011 * [backup-simplify]: Simplify phi1 into phi1 5.011 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.011 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 5.011 * [taylor]: Taking taylor expansion of phi2 in R 5.011 * [backup-simplify]: Simplify phi2 into phi2 5.011 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.012 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.012 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.012 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.012 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.012 * [taylor]: Taking taylor expansion of R in R 5.012 * [backup-simplify]: Simplify 0 into 0 5.012 * [backup-simplify]: Simplify 1 into 1 5.012 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.012 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.012 * [backup-simplify]: Simplify (- 0) into 0 5.012 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.013 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.013 * [backup-simplify]: Simplify (+ 0) into 0 5.013 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.013 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.013 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.014 * [backup-simplify]: Simplify (+ 0 0) into 0 5.014 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.015 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.015 * [backup-simplify]: Simplify (- 0) into 0 5.015 * [backup-simplify]: Simplify (+ 0 0) into 0 5.016 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.016 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.016 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.016 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.017 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 5.017 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R)))) into (/ 1/2 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 5.017 * [backup-simplify]: Simplify (+ (/ 1/2 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) (/ 1/2 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) 5.017 * [backup-simplify]: Simplify (- (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into (- (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) 5.018 * [backup-simplify]: Simplify (+ (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (- (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))))) (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))))) 5.018 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))))) (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))))) in phi1 5.018 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))))) in phi1 5.018 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi1 5.018 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.018 * [backup-simplify]: Simplify 1/2 into 1/2 5.018 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi1 5.018 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1 5.018 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.018 * [taylor]: Taking taylor expansion of phi2 in phi1 5.018 * [backup-simplify]: Simplify phi2 into phi2 5.018 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 5.018 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.018 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.018 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.018 * [backup-simplify]: Simplify 0.5 into 0.5 5.018 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.019 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.019 * [taylor]: Taking taylor expansion of phi1 in phi1 5.019 * [backup-simplify]: Simplify 0 into 0 5.019 * [backup-simplify]: Simplify 1 into 1 5.019 * [backup-simplify]: Simplify (/ 1 1) into 1 5.019 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.019 * [taylor]: Taking taylor expansion of phi2 in phi1 5.019 * [backup-simplify]: Simplify phi2 into phi2 5.019 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.019 * [backup-simplify]: Simplify (+ 1 0) into 1 5.019 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.020 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.020 * [taylor]: Taking taylor expansion of R in phi1 5.020 * [backup-simplify]: Simplify R into R 5.020 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.020 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.020 * [backup-simplify]: Simplify (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.020 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.020 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R)))) in phi1 5.020 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.020 * [backup-simplify]: Simplify 1/2 into 1/2 5.020 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))) in phi1 5.020 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R)) in phi1 5.020 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.020 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.020 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.020 * [backup-simplify]: Simplify 0.5 into 0.5 5.020 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.020 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.020 * [taylor]: Taking taylor expansion of phi1 in phi1 5.020 * [backup-simplify]: Simplify 0 into 0 5.020 * [backup-simplify]: Simplify 1 into 1 5.021 * [backup-simplify]: Simplify (/ 1 1) into 1 5.021 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.021 * [taylor]: Taking taylor expansion of phi2 in phi1 5.021 * [backup-simplify]: Simplify phi2 into phi2 5.021 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.021 * [backup-simplify]: Simplify (+ 1 0) into 1 5.021 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.021 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.022 * [taylor]: Taking taylor expansion of (* (pow phi1 2) R) in phi1 5.022 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.022 * [taylor]: Taking taylor expansion of phi1 in phi1 5.022 * [backup-simplify]: Simplify 0 into 0 5.022 * [backup-simplify]: Simplify 1 into 1 5.022 * [taylor]: Taking taylor expansion of R in phi1 5.022 * [backup-simplify]: Simplify R into R 5.022 * [backup-simplify]: Simplify (* 1 1) into 1 5.022 * [backup-simplify]: Simplify (* 1 R) into R 5.022 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.022 * [backup-simplify]: Simplify (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.022 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)))) in phi1 5.022 * [taylor]: Taking taylor expansion of (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))) in phi1 5.022 * [taylor]: Taking taylor expansion of phi2 in phi1 5.022 * [backup-simplify]: Simplify phi2 into phi2 5.022 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)) in phi1 5.022 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.022 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.022 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.022 * [backup-simplify]: Simplify 0.5 into 0.5 5.022 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.022 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.022 * [taylor]: Taking taylor expansion of phi1 in phi1 5.022 * [backup-simplify]: Simplify 0 into 0 5.022 * [backup-simplify]: Simplify 1 into 1 5.023 * [backup-simplify]: Simplify (/ 1 1) into 1 5.023 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.023 * [taylor]: Taking taylor expansion of phi2 in phi1 5.023 * [backup-simplify]: Simplify phi2 into phi2 5.023 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.023 * [backup-simplify]: Simplify (+ 1 0) into 1 5.023 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.023 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.023 * [taylor]: Taking taylor expansion of (* R phi1) in phi1 5.023 * [taylor]: Taking taylor expansion of R in phi1 5.024 * [backup-simplify]: Simplify R into R 5.024 * [taylor]: Taking taylor expansion of phi1 in phi1 5.024 * [backup-simplify]: Simplify 0 into 0 5.024 * [backup-simplify]: Simplify 1 into 1 5.024 * [backup-simplify]: Simplify (* R 0) into 0 5.024 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.024 * [backup-simplify]: Simplify (* phi2 0) into 0 5.024 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 5.025 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (* 0 0)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.025 * [backup-simplify]: Simplify (+ (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.026 * [backup-simplify]: Simplify (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* phi2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 5.026 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.027 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 5.027 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 5.028 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (/ 0 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0 5.028 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.029 * [backup-simplify]: Simplify (+ 0 0) into 0 5.029 * [backup-simplify]: Simplify (- (/ 1 (* phi2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (/ 1 (* phi2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 5.029 * [backup-simplify]: Simplify (+ 0 (- (/ 1 (* phi2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into (- (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) 5.029 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi2 5.029 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi2 5.029 * [taylor]: Taking taylor expansion of (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 5.030 * [taylor]: Taking taylor expansion of phi2 in phi2 5.030 * [backup-simplify]: Simplify 0 into 0 5.030 * [backup-simplify]: Simplify 1 into 1 5.030 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 5.030 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.030 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.030 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.030 * [backup-simplify]: Simplify 0.5 into 0.5 5.030 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.030 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.030 * [taylor]: Taking taylor expansion of phi1 in phi2 5.030 * [backup-simplify]: Simplify phi1 into phi1 5.030 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.030 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.030 * [taylor]: Taking taylor expansion of phi2 in phi2 5.030 * [backup-simplify]: Simplify 0 into 0 5.030 * [backup-simplify]: Simplify 1 into 1 5.030 * [backup-simplify]: Simplify (/ 1 1) into 1 5.031 * [backup-simplify]: Simplify (+ 0 1) into 1 5.031 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.031 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.032 * [taylor]: Taking taylor expansion of R in phi2 5.032 * [backup-simplify]: Simplify R into R 5.032 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.032 * [backup-simplify]: Simplify (* 0 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.032 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 5.033 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.033 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.033 * [backup-simplify]: Simplify (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (- (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 5.034 * [taylor]: Taking taylor expansion of (- (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in R 5.034 * [taylor]: Taking taylor expansion of (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R 5.034 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R 5.034 * [taylor]: Taking taylor expansion of R in R 5.034 * [backup-simplify]: Simplify 0 into 0 5.034 * [backup-simplify]: Simplify 1 into 1 5.034 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 5.034 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 5.034 * [taylor]: Taking taylor expansion of 0.5 in R 5.034 * [backup-simplify]: Simplify 0.5 into 0.5 5.034 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 5.034 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 5.034 * [taylor]: Taking taylor expansion of phi1 in R 5.034 * [backup-simplify]: Simplify phi1 into phi1 5.034 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.034 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 5.034 * [taylor]: Taking taylor expansion of phi2 in R 5.034 * [backup-simplify]: Simplify phi2 into phi2 5.034 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.034 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.034 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.035 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.035 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.035 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.035 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.036 * [backup-simplify]: Simplify (- 0) into 0 5.036 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.036 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.036 * [backup-simplify]: Simplify (+ 0) into 0 5.037 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.037 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.037 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.038 * [backup-simplify]: Simplify (+ 0 0) into 0 5.038 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.040 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.040 * [backup-simplify]: Simplify (- 0) into 0 5.041 * [backup-simplify]: Simplify (+ 0 0) into 0 5.041 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.042 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.042 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.042 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.043 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.044 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.045 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.045 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.045 * [backup-simplify]: Simplify (+ 0 0) into 0 5.046 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.047 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.048 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.048 * [backup-simplify]: Simplify (- 0) into 0 5.048 * [backup-simplify]: Simplify (+ 0 0) into 0 5.049 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0 5.050 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 5.050 * [backup-simplify]: Simplify (- 0) into 0 5.050 * [taylor]: Taking taylor expansion of 0 in phi1 5.050 * [backup-simplify]: Simplify 0 into 0 5.051 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.052 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.052 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.053 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.053 * [backup-simplify]: Simplify (+ 0 0) into 0 5.054 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.055 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.055 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.056 * [backup-simplify]: Simplify (- 0) into 0 5.056 * [backup-simplify]: Simplify (+ 0 0) into 0 5.057 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 5.057 * [taylor]: Taking taylor expansion of 0 in phi1 5.057 * [backup-simplify]: Simplify 0 into 0 5.057 * [taylor]: Taking taylor expansion of 0 in phi2 5.057 * [backup-simplify]: Simplify 0 into 0 5.057 * [taylor]: Taking taylor expansion of 0 in phi2 5.057 * [backup-simplify]: Simplify 0 into 0 5.057 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 5.058 * [backup-simplify]: Simplify (- 0) into 0 5.058 * [taylor]: Taking taylor expansion of 0 in phi2 5.058 * [backup-simplify]: Simplify 0 into 0 5.058 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 5.058 * [taylor]: Taking taylor expansion of 0 in phi2 5.058 * [backup-simplify]: Simplify 0 into 0 5.059 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.059 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R 5.059 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R 5.059 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 5.059 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 5.059 * [taylor]: Taking taylor expansion of 0.5 in R 5.059 * [backup-simplify]: Simplify 0.5 into 0.5 5.059 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 5.059 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 5.059 * [taylor]: Taking taylor expansion of phi1 in R 5.059 * [backup-simplify]: Simplify phi1 into phi1 5.059 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.059 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 5.059 * [taylor]: Taking taylor expansion of phi2 in R 5.059 * [backup-simplify]: Simplify phi2 into phi2 5.059 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.059 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.059 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.060 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.060 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.060 * [taylor]: Taking taylor expansion of R in R 5.060 * [backup-simplify]: Simplify 0 into 0 5.060 * [backup-simplify]: Simplify 1 into 1 5.060 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.060 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.061 * [backup-simplify]: Simplify (- 0) into 0 5.061 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.061 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.061 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.062 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.064 * [backup-simplify]: Simplify (+ (* (- (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* (/ 1 (/ 1 R)) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1)))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2)))))))) into (- (+ (/ (* phi2 (* lambda2 (* R phi1))) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 (* phi1 R)) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (* (cos (* 0.5 (+ phi2 phi1))) R))))) 5.065 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))) (/ 1 (- R))) into (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) 5.065 * [approximate]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in (lambda1 lambda2 phi1 phi2 R) around 0 5.065 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in R 5.065 * [taylor]: Taking taylor expansion of -1 in R 5.065 * [backup-simplify]: Simplify -1 into -1 5.065 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in R 5.065 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in R 5.065 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 5.065 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in R 5.065 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R 5.065 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R 5.065 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R 5.065 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 5.065 * [taylor]: Taking taylor expansion of lambda2 in R 5.066 * [backup-simplify]: Simplify lambda2 into lambda2 5.066 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.066 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 5.066 * [taylor]: Taking taylor expansion of lambda1 in R 5.066 * [backup-simplify]: Simplify lambda1 into lambda1 5.066 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.066 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 5.066 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 5.066 * [taylor]: Taking taylor expansion of -0.5 in R 5.066 * [backup-simplify]: Simplify -0.5 into -0.5 5.066 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 5.066 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 5.066 * [taylor]: Taking taylor expansion of phi1 in R 5.066 * [backup-simplify]: Simplify phi1 into phi1 5.066 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.066 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 5.066 * [taylor]: Taking taylor expansion of phi2 in R 5.066 * [backup-simplify]: Simplify phi2 into phi2 5.066 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.066 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.066 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.067 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.067 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.067 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R 5.067 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R 5.067 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 5.067 * [taylor]: Taking taylor expansion of lambda2 in R 5.067 * [backup-simplify]: Simplify lambda2 into lambda2 5.067 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.067 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 5.067 * [taylor]: Taking taylor expansion of lambda1 in R 5.067 * [backup-simplify]: Simplify lambda1 into lambda1 5.067 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.067 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 5.067 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 5.067 * [taylor]: Taking taylor expansion of -0.5 in R 5.067 * [backup-simplify]: Simplify -0.5 into -0.5 5.067 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 5.067 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 5.067 * [taylor]: Taking taylor expansion of phi1 in R 5.067 * [backup-simplify]: Simplify phi1 into phi1 5.068 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.068 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 5.068 * [taylor]: Taking taylor expansion of phi2 in R 5.068 * [backup-simplify]: Simplify phi2 into phi2 5.068 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.068 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.068 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.068 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.068 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.068 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in R 5.068 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R 5.068 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 5.068 * [taylor]: Taking taylor expansion of phi2 in R 5.068 * [backup-simplify]: Simplify phi2 into phi2 5.069 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.069 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 5.069 * [taylor]: Taking taylor expansion of phi1 in R 5.069 * [backup-simplify]: Simplify phi1 into phi1 5.069 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.069 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R 5.069 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 5.069 * [taylor]: Taking taylor expansion of phi2 in R 5.069 * [backup-simplify]: Simplify phi2 into phi2 5.069 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.069 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 5.069 * [taylor]: Taking taylor expansion of phi1 in R 5.069 * [backup-simplify]: Simplify phi1 into phi1 5.069 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.069 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 5.069 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 5.069 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.070 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.070 * [backup-simplify]: Simplify (- 0) into 0 5.070 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.071 * [backup-simplify]: Simplify (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.071 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 5.071 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 5.071 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.071 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.072 * [backup-simplify]: Simplify (- 0) into 0 5.072 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.072 * [backup-simplify]: Simplify (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.073 * [backup-simplify]: Simplify (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 5.073 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 5.073 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 5.073 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 5.073 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 5.074 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2) 5.075 * [backup-simplify]: Simplify (+ (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ 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))))) 5.077 * [backup-simplify]: Simplify (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)))))) 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)))))) 5.078 * [backup-simplify]: Simplify (+ 0) into 0 5.079 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.079 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.079 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.079 * [backup-simplify]: Simplify (+ 0 0) into 0 5.080 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.081 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.082 * [backup-simplify]: Simplify (- 0) into 0 5.082 * [backup-simplify]: Simplify (+ 0 0) into 0 5.082 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 5.082 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 5.083 * [backup-simplify]: Simplify (- 0) into 0 5.083 * [backup-simplify]: Simplify (+ 0 0) into 0 5.084 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda2) (/ 1 lambda1)) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.084 * [backup-simplify]: Simplify (+ 0) into 0 5.085 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.085 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.085 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.085 * [backup-simplify]: Simplify (+ 0 0) into 0 5.086 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.087 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.088 * [backup-simplify]: Simplify (- 0) into 0 5.088 * [backup-simplify]: Simplify (+ 0 0) into 0 5.088 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 5.088 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 5.089 * [backup-simplify]: Simplify (- 0) into 0 5.089 * [backup-simplify]: Simplify (+ 0 0) into 0 5.089 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda2) (/ 1 lambda1)) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.090 * [backup-simplify]: Simplify (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (* 0 (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.090 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.090 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.091 * [backup-simplify]: Simplify (- 0) into 0 5.091 * [backup-simplify]: Simplify (+ 0 0) into 0 5.091 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.092 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.092 * [backup-simplify]: Simplify (- 0) into 0 5.092 * [backup-simplify]: Simplify (+ 0 0) into 0 5.093 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0 5.098 * [backup-simplify]: Simplify (+ 0 0) into 0 5.100 * [backup-simplify]: Simplify (/ 0 (* 2 (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)))))))) into 0 5.101 * [taylor]: Taking taylor expansion of R in R 5.101 * [backup-simplify]: Simplify 0 into 0 5.101 * [backup-simplify]: Simplify 1 into 1 5.103 * [backup-simplify]: Simplify (/ (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)))))) 1) 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)))))) 5.103 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi2 5.103 * [taylor]: Taking taylor expansion of -1 in phi2 5.103 * [backup-simplify]: Simplify -1 into -1 5.103 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi2 5.103 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi2 5.103 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 5.103 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi2 5.103 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.103 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.103 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 5.103 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 5.103 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.103 * [backup-simplify]: Simplify lambda2 into lambda2 5.104 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.104 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 5.104 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.104 * [backup-simplify]: Simplify lambda1 into lambda1 5.104 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.104 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.104 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.104 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.104 * [backup-simplify]: Simplify -0.5 into -0.5 5.104 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.104 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.104 * [taylor]: Taking taylor expansion of phi1 in phi2 5.104 * [backup-simplify]: Simplify phi1 into phi1 5.104 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.104 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.104 * [taylor]: Taking taylor expansion of phi2 in phi2 5.104 * [backup-simplify]: Simplify 0 into 0 5.104 * [backup-simplify]: Simplify 1 into 1 5.105 * [backup-simplify]: Simplify (/ 1 1) into 1 5.105 * [backup-simplify]: Simplify (+ 0 1) into 1 5.106 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.106 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.106 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.106 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 5.106 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 5.106 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.106 * [backup-simplify]: Simplify lambda2 into lambda2 5.106 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.106 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 5.106 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.106 * [backup-simplify]: Simplify lambda1 into lambda1 5.106 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.106 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.106 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.106 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.106 * [backup-simplify]: Simplify -0.5 into -0.5 5.106 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.107 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.107 * [taylor]: Taking taylor expansion of phi1 in phi2 5.107 * [backup-simplify]: Simplify phi1 into phi1 5.107 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.107 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.107 * [taylor]: Taking taylor expansion of phi2 in phi2 5.107 * [backup-simplify]: Simplify 0 into 0 5.107 * [backup-simplify]: Simplify 1 into 1 5.107 * [backup-simplify]: Simplify (/ 1 1) into 1 5.108 * [backup-simplify]: Simplify (+ 0 1) into 1 5.108 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.108 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.108 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi2 5.108 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2 5.108 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.108 * [taylor]: Taking taylor expansion of phi2 in phi2 5.108 * [backup-simplify]: Simplify 0 into 0 5.108 * [backup-simplify]: Simplify 1 into 1 5.109 * [backup-simplify]: Simplify (/ 1 1) into 1 5.109 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.109 * [taylor]: Taking taylor expansion of phi1 in phi2 5.109 * [backup-simplify]: Simplify phi1 into phi1 5.109 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.109 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2 5.109 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.109 * [taylor]: Taking taylor expansion of phi2 in phi2 5.109 * [backup-simplify]: Simplify 0 into 0 5.109 * [backup-simplify]: Simplify 1 into 1 5.109 * [backup-simplify]: Simplify (/ 1 1) into 1 5.109 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.109 * [taylor]: Taking taylor expansion of phi1 in phi2 5.109 * [backup-simplify]: Simplify phi1 into phi1 5.109 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.110 * [backup-simplify]: Simplify (+ 1 0) into 1 5.110 * [backup-simplify]: Simplify (+ 1 0) into 1 5.111 * [backup-simplify]: Simplify (* 1 1) into 1 5.111 * [backup-simplify]: Simplify (+ 0 1) into 1 5.111 * [backup-simplify]: Simplify (sqrt 1) into 1 5.112 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.112 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 5.112 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1)) 5.113 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.113 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 5.113 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1)) 5.113 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi1))) (* (- (/ 1 phi1)) 1)) into (- (* 2 (/ 1 phi1))) 5.113 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 5.114 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 5.114 * [taylor]: Taking taylor expansion of R in phi2 5.114 * [backup-simplify]: Simplify R into R 5.114 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 5.114 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi1 5.114 * [taylor]: Taking taylor expansion of -1 in phi1 5.114 * [backup-simplify]: Simplify -1 into -1 5.114 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi1 5.114 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi1 5.115 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 5.115 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi1 5.115 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 5.115 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.115 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 5.115 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 5.115 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.115 * [backup-simplify]: Simplify lambda2 into lambda2 5.115 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.115 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 5.115 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.115 * [backup-simplify]: Simplify lambda1 into lambda1 5.115 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.115 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.115 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.115 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.115 * [backup-simplify]: Simplify -0.5 into -0.5 5.115 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.115 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.115 * [taylor]: Taking taylor expansion of phi1 in phi1 5.115 * [backup-simplify]: Simplify 0 into 0 5.115 * [backup-simplify]: Simplify 1 into 1 5.116 * [backup-simplify]: Simplify (/ 1 1) into 1 5.116 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.116 * [taylor]: Taking taylor expansion of phi2 in phi1 5.116 * [backup-simplify]: Simplify phi2 into phi2 5.116 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.116 * [backup-simplify]: Simplify (+ 1 0) into 1 5.117 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.117 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.117 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.117 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 5.117 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 5.117 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.117 * [backup-simplify]: Simplify lambda2 into lambda2 5.117 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.117 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 5.117 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.117 * [backup-simplify]: Simplify lambda1 into lambda1 5.117 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.117 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.117 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.117 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.117 * [backup-simplify]: Simplify -0.5 into -0.5 5.117 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.117 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.117 * [taylor]: Taking taylor expansion of phi1 in phi1 5.117 * [backup-simplify]: Simplify 0 into 0 5.117 * [backup-simplify]: Simplify 1 into 1 5.118 * [backup-simplify]: Simplify (/ 1 1) into 1 5.118 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.118 * [taylor]: Taking taylor expansion of phi2 in phi1 5.118 * [backup-simplify]: Simplify phi2 into phi2 5.118 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.118 * [backup-simplify]: Simplify (+ 1 0) into 1 5.119 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.119 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.119 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi1 5.119 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1 5.119 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.119 * [taylor]: Taking taylor expansion of phi2 in phi1 5.119 * [backup-simplify]: Simplify phi2 into phi2 5.119 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.119 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.119 * [taylor]: Taking taylor expansion of phi1 in phi1 5.119 * [backup-simplify]: Simplify 0 into 0 5.119 * [backup-simplify]: Simplify 1 into 1 5.119 * [backup-simplify]: Simplify (/ 1 1) into 1 5.119 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1 5.120 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.120 * [taylor]: Taking taylor expansion of phi2 in phi1 5.120 * [backup-simplify]: Simplify phi2 into phi2 5.120 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.120 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.120 * [taylor]: Taking taylor expansion of phi1 in phi1 5.120 * [backup-simplify]: Simplify 0 into 0 5.120 * [backup-simplify]: Simplify 1 into 1 5.120 * [backup-simplify]: Simplify (/ 1 1) into 1 5.121 * [backup-simplify]: Simplify (- 1) into -1 5.121 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.121 * [backup-simplify]: Simplify (- 1) into -1 5.122 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.122 * [backup-simplify]: Simplify (* -1 -1) into 1 5.123 * [backup-simplify]: Simplify (+ 0 1) into 1 5.123 * [backup-simplify]: Simplify (sqrt 1) into 1 5.124 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.124 * [backup-simplify]: Simplify (- 0) into 0 5.125 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2) 5.126 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.126 * [backup-simplify]: Simplify (- 0) into 0 5.126 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2) 5.126 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi2)) (* (/ 1 phi2) -1)) into (- (* 2 (/ 1 phi2))) 5.126 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.127 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 5.127 * [taylor]: Taking taylor expansion of R in phi1 5.127 * [backup-simplify]: Simplify R into R 5.127 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 5.127 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda2 5.127 * [taylor]: Taking taylor expansion of -1 in lambda2 5.127 * [backup-simplify]: Simplify -1 into -1 5.127 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda2 5.128 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda2 5.128 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 5.128 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda2 5.128 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 5.128 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 5.128 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 5.128 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 5.128 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.128 * [backup-simplify]: Simplify 0 into 0 5.128 * [backup-simplify]: Simplify 1 into 1 5.128 * [backup-simplify]: Simplify (/ 1 1) into 1 5.129 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 5.129 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.129 * [backup-simplify]: Simplify lambda1 into lambda1 5.129 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.129 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.129 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.129 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.129 * [backup-simplify]: Simplify -0.5 into -0.5 5.129 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.129 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.129 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.129 * [backup-simplify]: Simplify phi1 into phi1 5.129 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.129 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.129 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.129 * [backup-simplify]: Simplify phi2 into phi2 5.129 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.129 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.129 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.130 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.130 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.130 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 5.130 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 5.130 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 5.130 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.130 * [backup-simplify]: Simplify 0 into 0 5.130 * [backup-simplify]: Simplify 1 into 1 5.130 * [backup-simplify]: Simplify (/ 1 1) into 1 5.130 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 5.130 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.130 * [backup-simplify]: Simplify lambda1 into lambda1 5.130 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.130 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.131 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.131 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.131 * [backup-simplify]: Simplify -0.5 into -0.5 5.131 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.131 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.131 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.131 * [backup-simplify]: Simplify phi1 into phi1 5.131 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.131 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.131 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.131 * [backup-simplify]: Simplify phi2 into phi2 5.131 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.131 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.131 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.131 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.131 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.132 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda2 5.132 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2 5.132 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.132 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.132 * [backup-simplify]: Simplify phi2 into phi2 5.132 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.132 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.132 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.132 * [backup-simplify]: Simplify phi1 into phi1 5.132 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.132 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2 5.132 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.132 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.132 * [backup-simplify]: Simplify phi2 into phi2 5.132 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.132 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.132 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.132 * [backup-simplify]: Simplify phi1 into phi1 5.132 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.133 * [backup-simplify]: Simplify (+ 1 0) into 1 5.133 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.133 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.133 * [backup-simplify]: Simplify (- 0) into 0 5.133 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.134 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.134 * [backup-simplify]: Simplify (+ 1 0) into 1 5.134 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.135 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.135 * [backup-simplify]: Simplify (- 0) into 0 5.135 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.135 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.136 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.136 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.136 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.137 * [backup-simplify]: Simplify (+ 0) into 0 5.137 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.137 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.138 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.138 * [backup-simplify]: Simplify (+ 0 0) into 0 5.139 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.140 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.140 * [backup-simplify]: Simplify (- 0) into 0 5.141 * [backup-simplify]: Simplify (+ 0 0) into 0 5.141 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.141 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 5.142 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1)) 5.142 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 5.143 * [backup-simplify]: Simplify (+ 0) into 0 5.143 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.144 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.144 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.144 * [backup-simplify]: Simplify (+ 0 0) into 0 5.145 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.146 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.146 * [backup-simplify]: Simplify (- 0) into 0 5.147 * [backup-simplify]: Simplify (+ 0 0) into 0 5.147 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.148 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 5.148 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1)) 5.148 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 5.150 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.150 * [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))) 5.151 * [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)) 5.151 * [taylor]: Taking taylor expansion of R in lambda2 5.151 * [backup-simplify]: Simplify R into R 5.152 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.152 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1 5.152 * [taylor]: Taking taylor expansion of -1 in lambda1 5.152 * [backup-simplify]: Simplify -1 into -1 5.152 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1 5.152 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 5.152 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 5.152 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1 5.152 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 5.152 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.152 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 5.152 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.152 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.152 * [backup-simplify]: Simplify lambda2 into lambda2 5.152 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.152 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.152 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.152 * [backup-simplify]: Simplify 0 into 0 5.153 * [backup-simplify]: Simplify 1 into 1 5.153 * [backup-simplify]: Simplify (/ 1 1) into 1 5.153 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.153 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.153 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.153 * [backup-simplify]: Simplify -0.5 into -0.5 5.153 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.153 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.153 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.153 * [backup-simplify]: Simplify phi1 into phi1 5.153 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.153 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.154 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.154 * [backup-simplify]: Simplify phi2 into phi2 5.154 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.154 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.154 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.154 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.154 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.154 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.154 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 5.154 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.154 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.154 * [backup-simplify]: Simplify lambda2 into lambda2 5.154 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.154 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.154 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.154 * [backup-simplify]: Simplify 0 into 0 5.155 * [backup-simplify]: Simplify 1 into 1 5.155 * [backup-simplify]: Simplify (/ 1 1) into 1 5.155 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.155 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.155 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.155 * [backup-simplify]: Simplify -0.5 into -0.5 5.155 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.155 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.155 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.155 * [backup-simplify]: Simplify phi1 into phi1 5.155 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.155 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.155 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.155 * [backup-simplify]: Simplify phi2 into phi2 5.155 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.155 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.156 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.156 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.156 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.156 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 5.156 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 5.156 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.156 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.156 * [backup-simplify]: Simplify phi2 into phi2 5.156 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.156 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.156 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.156 * [backup-simplify]: Simplify phi1 into phi1 5.156 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.156 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 5.156 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.156 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.156 * [backup-simplify]: Simplify phi2 into phi2 5.156 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.156 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.156 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.156 * [backup-simplify]: Simplify phi1 into phi1 5.157 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.157 * [backup-simplify]: Simplify (- 1) into -1 5.157 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.158 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.158 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.158 * [backup-simplify]: Simplify (- 0) into 0 5.158 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.158 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.159 * [backup-simplify]: Simplify (- 1) into -1 5.159 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.159 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.160 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.160 * [backup-simplify]: Simplify (- 0) into 0 5.160 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.160 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.161 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.161 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.161 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.162 * [backup-simplify]: Simplify (+ 0) into 0 5.162 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.162 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.163 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.163 * [backup-simplify]: Simplify (+ 0 0) into 0 5.163 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.165 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.165 * [backup-simplify]: Simplify (- 0) into 0 5.165 * [backup-simplify]: Simplify (+ 0 0) into 0 5.166 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.167 * [backup-simplify]: Simplify (- 0) into 0 5.167 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 5.167 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 5.168 * [backup-simplify]: Simplify (+ 0) into 0 5.168 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.168 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.169 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.169 * [backup-simplify]: Simplify (+ 0 0) into 0 5.169 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.171 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.171 * [backup-simplify]: Simplify (- 0) into 0 5.171 * [backup-simplify]: Simplify (+ 0 0) into 0 5.172 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.172 * [backup-simplify]: Simplify (- 0) into 0 5.173 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 5.173 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 5.174 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.175 * [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))) 5.175 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.176 * [taylor]: Taking taylor expansion of R in lambda1 5.176 * [backup-simplify]: Simplify R into R 5.176 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.176 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1 5.176 * [taylor]: Taking taylor expansion of -1 in lambda1 5.176 * [backup-simplify]: Simplify -1 into -1 5.176 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1 5.176 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 5.176 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 5.176 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1 5.176 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 5.176 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.176 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 5.176 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.176 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.176 * [backup-simplify]: Simplify lambda2 into lambda2 5.176 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.176 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.176 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.176 * [backup-simplify]: Simplify 0 into 0 5.176 * [backup-simplify]: Simplify 1 into 1 5.177 * [backup-simplify]: Simplify (/ 1 1) into 1 5.177 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.177 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.177 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.177 * [backup-simplify]: Simplify -0.5 into -0.5 5.177 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.177 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.177 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.177 * [backup-simplify]: Simplify phi1 into phi1 5.177 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.177 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.177 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.177 * [backup-simplify]: Simplify phi2 into phi2 5.177 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.177 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.177 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.178 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.178 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.178 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.178 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 5.178 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.178 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.178 * [backup-simplify]: Simplify lambda2 into lambda2 5.178 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.178 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.178 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.178 * [backup-simplify]: Simplify 0 into 0 5.178 * [backup-simplify]: Simplify 1 into 1 5.178 * [backup-simplify]: Simplify (/ 1 1) into 1 5.179 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.179 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.179 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.179 * [backup-simplify]: Simplify -0.5 into -0.5 5.179 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.179 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.179 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.179 * [backup-simplify]: Simplify phi1 into phi1 5.179 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.179 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.179 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.179 * [backup-simplify]: Simplify phi2 into phi2 5.179 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.179 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.179 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.179 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.180 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.180 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 5.180 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 5.180 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.180 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.180 * [backup-simplify]: Simplify phi2 into phi2 5.180 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.180 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.180 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.180 * [backup-simplify]: Simplify phi1 into phi1 5.180 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.180 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 5.180 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.180 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.180 * [backup-simplify]: Simplify phi2 into phi2 5.180 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.180 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.180 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.180 * [backup-simplify]: Simplify phi1 into phi1 5.180 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.181 * [backup-simplify]: Simplify (- 1) into -1 5.181 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.181 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.181 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.182 * [backup-simplify]: Simplify (- 0) into 0 5.182 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.182 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.183 * [backup-simplify]: Simplify (- 1) into -1 5.183 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.183 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.184 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.184 * [backup-simplify]: Simplify (- 0) into 0 5.184 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.184 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.185 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.185 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.185 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.186 * [backup-simplify]: Simplify (+ 0) into 0 5.186 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.187 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.187 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.187 * [backup-simplify]: Simplify (+ 0 0) into 0 5.188 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.189 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.190 * [backup-simplify]: Simplify (- 0) into 0 5.190 * [backup-simplify]: Simplify (+ 0 0) into 0 5.191 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.191 * [backup-simplify]: Simplify (- 0) into 0 5.191 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 5.192 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 5.193 * [backup-simplify]: Simplify (+ 0) into 0 5.193 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.193 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.193 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.194 * [backup-simplify]: Simplify (+ 0 0) into 0 5.194 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.196 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.196 * [backup-simplify]: Simplify (- 0) into 0 5.197 * [backup-simplify]: Simplify (+ 0 0) into 0 5.197 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.198 * [backup-simplify]: Simplify (- 0) into 0 5.198 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 5.198 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 5.200 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.200 * [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))) 5.201 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.201 * [taylor]: Taking taylor expansion of R in lambda1 5.201 * [backup-simplify]: Simplify R into R 5.201 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.202 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.202 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2 5.202 * [taylor]: Taking taylor expansion of -1 in lambda2 5.202 * [backup-simplify]: Simplify -1 into -1 5.202 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 5.202 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.202 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.202 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.202 * [backup-simplify]: Simplify -0.5 into -0.5 5.202 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.202 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.202 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.202 * [backup-simplify]: Simplify phi1 into phi1 5.202 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.202 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.202 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.202 * [backup-simplify]: Simplify phi2 into phi2 5.202 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.202 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.203 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.203 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.203 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.203 * [taylor]: Taking taylor expansion of R in lambda2 5.203 * [backup-simplify]: Simplify R into R 5.203 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.203 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.204 * [backup-simplify]: Simplify (- 0) into 0 5.204 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.205 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.205 * [backup-simplify]: Simplify (- (/ (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) 5.206 * [backup-simplify]: Simplify (+ (* -1 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) 5.206 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) in lambda2 5.206 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.206 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.206 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.206 * [backup-simplify]: Simplify -0.5 into -0.5 5.206 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.206 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.206 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.206 * [backup-simplify]: Simplify phi1 into phi1 5.206 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.206 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.206 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.206 * [backup-simplify]: Simplify phi2 into phi2 5.206 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.207 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.207 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.207 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.207 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.207 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2 5.207 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.207 * [backup-simplify]: Simplify 0 into 0 5.207 * [backup-simplify]: Simplify 1 into 1 5.207 * [taylor]: Taking taylor expansion of R in lambda2 5.207 * [backup-simplify]: Simplify R into R 5.208 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.208 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.208 * [backup-simplify]: Simplify (- 0) into 0 5.208 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.209 * [backup-simplify]: Simplify (* 0 R) into 0 5.209 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 5.209 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.209 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 5.209 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.209 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.209 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.209 * [backup-simplify]: Simplify -0.5 into -0.5 5.209 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.209 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.209 * [taylor]: Taking taylor expansion of phi1 in phi1 5.210 * [backup-simplify]: Simplify 0 into 0 5.210 * [backup-simplify]: Simplify 1 into 1 5.210 * [backup-simplify]: Simplify (/ 1 1) into 1 5.210 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.210 * [taylor]: Taking taylor expansion of phi2 in phi1 5.210 * [backup-simplify]: Simplify phi2 into phi2 5.210 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.211 * [backup-simplify]: Simplify (+ 1 0) into 1 5.211 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.211 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.211 * [taylor]: Taking taylor expansion of R in phi1 5.211 * [backup-simplify]: Simplify R into R 5.212 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.212 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.212 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1 5.212 * [taylor]: Taking taylor expansion of -1 in phi1 5.212 * [backup-simplify]: Simplify -1 into -1 5.212 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 5.212 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.212 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.212 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.212 * [backup-simplify]: Simplify -0.5 into -0.5 5.212 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.212 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.212 * [taylor]: Taking taylor expansion of phi1 in phi1 5.212 * [backup-simplify]: Simplify 0 into 0 5.212 * [backup-simplify]: Simplify 1 into 1 5.213 * [backup-simplify]: Simplify (/ 1 1) into 1 5.213 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.213 * [taylor]: Taking taylor expansion of phi2 in phi1 5.213 * [backup-simplify]: Simplify phi2 into phi2 5.213 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.213 * [backup-simplify]: Simplify (+ 1 0) into 1 5.214 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.214 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.214 * [taylor]: Taking taylor expansion of R in phi1 5.214 * [backup-simplify]: Simplify R into R 5.214 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.215 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.216 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.216 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.216 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.217 * [backup-simplify]: Simplify (+ 0 0) into 0 5.218 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.218 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.219 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.219 * [backup-simplify]: Simplify (- 0) into 0 5.220 * [backup-simplify]: Simplify (+ 0 0) into 0 5.220 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 5.221 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.221 * [backup-simplify]: Simplify (- 0) into 0 5.221 * [backup-simplify]: Simplify (+ 0 0) into 0 5.222 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.223 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.224 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.224 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.224 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.225 * [backup-simplify]: Simplify (+ 0 0) into 0 5.225 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.226 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.227 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.227 * [backup-simplify]: Simplify (- 0) into 0 5.227 * [backup-simplify]: Simplify (+ 0 0) into 0 5.228 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 5.228 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.229 * [backup-simplify]: Simplify (- 0) into 0 5.229 * [backup-simplify]: Simplify (+ 0 0) into 0 5.229 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.230 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.230 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 5.230 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 5.230 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 5.230 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 5.230 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2) 5.231 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) 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)))) 5.232 * [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)))))) 5.233 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) 5.234 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) (+ (* 0 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (- (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 5.234 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) in lambda2 5.234 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2 5.234 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2 5.234 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.234 * [backup-simplify]: Simplify phi2 into phi2 5.234 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2 5.234 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.234 * [backup-simplify]: Simplify phi1 into phi1 5.234 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 5.234 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.234 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.234 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.234 * [backup-simplify]: Simplify -0.5 into -0.5 5.234 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.234 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.234 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.234 * [backup-simplify]: Simplify phi1 into phi1 5.234 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.234 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.234 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.234 * [backup-simplify]: Simplify phi2 into phi2 5.234 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.234 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.235 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.235 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.235 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.235 * [taylor]: Taking taylor expansion of R in lambda2 5.235 * [backup-simplify]: Simplify R into R 5.235 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.235 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.235 * [backup-simplify]: Simplify (- 0) into 0 5.235 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.236 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.236 * [backup-simplify]: Simplify (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) 5.236 * [backup-simplify]: Simplify (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) into (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) 5.236 * [backup-simplify]: Simplify (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) into (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) 5.236 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in lambda2 5.236 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) in lambda2 5.236 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.236 * [backup-simplify]: Simplify 1/2 into 1/2 5.236 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) in lambda2 5.236 * [taylor]: Taking taylor expansion of (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) in lambda2 5.236 * [taylor]: Taking taylor expansion of R in lambda2 5.236 * [backup-simplify]: Simplify R into R 5.236 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) in lambda2 5.236 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.236 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.236 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.236 * [backup-simplify]: Simplify -0.5 into -0.5 5.236 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.236 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.236 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.236 * [backup-simplify]: Simplify phi1 into phi1 5.236 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.236 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.236 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.236 * [backup-simplify]: Simplify phi2 into phi2 5.236 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.237 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.237 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.237 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.237 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.237 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.237 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.237 * [backup-simplify]: Simplify phi1 into phi1 5.237 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.237 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.237 * [backup-simplify]: Simplify (- 0) into 0 5.237 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.238 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.238 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) 5.238 * [backup-simplify]: Simplify (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) into (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.238 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.238 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2 5.238 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.238 * [backup-simplify]: Simplify 1/2 into 1/2 5.238 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2 5.238 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2 5.238 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.238 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.238 * [backup-simplify]: Simplify phi2 into phi2 5.238 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 5.238 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.238 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.238 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.238 * [backup-simplify]: Simplify -0.5 into -0.5 5.238 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.238 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.238 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.238 * [backup-simplify]: Simplify phi1 into phi1 5.238 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.239 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.239 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.239 * [backup-simplify]: Simplify phi2 into phi2 5.239 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.239 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.239 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.239 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.239 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.239 * [taylor]: Taking taylor expansion of R in lambda2 5.239 * [backup-simplify]: Simplify R into R 5.239 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.239 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.239 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.240 * [backup-simplify]: Simplify (- 0) into 0 5.240 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.240 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.240 * [backup-simplify]: Simplify (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.240 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.240 * [backup-simplify]: Simplify (+ 0) into 0 5.241 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.241 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.241 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.241 * [backup-simplify]: Simplify (+ 0 0) into 0 5.242 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.242 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.243 * [backup-simplify]: Simplify (- 0) into 0 5.243 * [backup-simplify]: Simplify (+ 0 0) into 0 5.243 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0 5.244 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 5.244 * [taylor]: Taking taylor expansion of 0 in phi1 5.244 * [backup-simplify]: Simplify 0 into 0 5.244 * [backup-simplify]: Simplify (+ 0) into 0 5.244 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.244 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.245 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.245 * [backup-simplify]: Simplify (+ 0 0) into 0 5.245 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.249 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.249 * [backup-simplify]: Simplify (- 0) into 0 5.249 * [backup-simplify]: Simplify (+ 0 0) into 0 5.250 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 5.250 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0 5.250 * [taylor]: Taking taylor expansion of 0 in phi1 5.250 * [backup-simplify]: Simplify 0 into 0 5.250 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 5.250 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.250 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.250 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.250 * [backup-simplify]: Simplify -0.5 into -0.5 5.250 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.250 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.250 * [taylor]: Taking taylor expansion of phi1 in phi2 5.250 * [backup-simplify]: Simplify phi1 into phi1 5.250 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.250 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.250 * [taylor]: Taking taylor expansion of phi2 in phi2 5.250 * [backup-simplify]: Simplify 0 into 0 5.251 * [backup-simplify]: Simplify 1 into 1 5.251 * [backup-simplify]: Simplify (/ 1 1) into 1 5.251 * [backup-simplify]: Simplify (+ 0 1) into 1 5.251 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.251 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.251 * [taylor]: Taking taylor expansion of R in phi2 5.251 * [backup-simplify]: Simplify R into R 5.252 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.252 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.252 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 5.252 * [taylor]: Taking taylor expansion of -1 in phi2 5.252 * [backup-simplify]: Simplify -1 into -1 5.252 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 5.252 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.252 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.252 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.252 * [backup-simplify]: Simplify -0.5 into -0.5 5.252 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.252 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.252 * [taylor]: Taking taylor expansion of phi1 in phi2 5.252 * [backup-simplify]: Simplify phi1 into phi1 5.252 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.252 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.252 * [taylor]: Taking taylor expansion of phi2 in phi2 5.252 * [backup-simplify]: Simplify 0 into 0 5.252 * [backup-simplify]: Simplify 1 into 1 5.252 * [backup-simplify]: Simplify (/ 1 1) into 1 5.253 * [backup-simplify]: Simplify (+ 0 1) into 1 5.253 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.253 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.253 * [taylor]: Taking taylor expansion of R in phi2 5.253 * [backup-simplify]: Simplify R into R 5.253 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.254 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.255 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.255 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.255 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.255 * [backup-simplify]: Simplify (+ 0 0) into 0 5.256 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.258 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.259 * [backup-simplify]: Simplify (- 0) into 0 5.259 * [backup-simplify]: Simplify (+ 0 0) into 0 5.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 5.260 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.261 * [backup-simplify]: Simplify (- 0) into 0 5.261 * [backup-simplify]: Simplify (+ 0 0) into 0 5.262 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.263 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.264 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.265 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.265 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.265 * [backup-simplify]: Simplify (+ 0 0) into 0 5.266 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.268 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.269 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.269 * [backup-simplify]: Simplify (- 0) into 0 5.270 * [backup-simplify]: Simplify (+ 0 0) into 0 5.270 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 5.271 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.271 * [backup-simplify]: Simplify (- 0) into 0 5.272 * [backup-simplify]: Simplify (+ 0 0) into 0 5.273 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.274 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 0) (+ (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0 5.274 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.274 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.275 * [backup-simplify]: Simplify (- 0) into 0 5.275 * [backup-simplify]: Simplify (+ 0 0) into 0 5.275 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.275 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.276 * [backup-simplify]: Simplify (- 0) into 0 5.276 * [backup-simplify]: Simplify (+ 0 0) into 0 5.276 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0 5.277 * [backup-simplify]: Simplify (+ 0 0) into 0 5.278 * [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)))))) 5.282 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)) (* (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) (/ 1 (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 5.286 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) (/ 1 (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))))) (+ (* 0 (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) (+ (* 0 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into (- (/ 1 (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (+ (* 1/2 (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))))) 5.286 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (+ (* 1/2 (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))))) in lambda2 5.286 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in lambda2 5.286 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2 5.286 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.286 * [backup-simplify]: Simplify phi2 into phi2 5.286 * [taylor]: Taking taylor expansion of (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2 5.286 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.286 * [backup-simplify]: Simplify phi1 into phi1 5.286 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2 5.286 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.286 * [backup-simplify]: Simplify 0 into 0 5.286 * [backup-simplify]: Simplify 1 into 1 5.286 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 5.286 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.286 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.286 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.287 * [backup-simplify]: Simplify -0.5 into -0.5 5.287 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.287 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.287 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.287 * [backup-simplify]: Simplify phi1 into phi1 5.287 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.287 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.287 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.287 * [backup-simplify]: Simplify phi2 into phi2 5.287 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.287 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.287 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.287 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.288 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.288 * [taylor]: Taking taylor expansion of R in lambda2 5.288 * [backup-simplify]: Simplify R into R 5.288 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.288 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.289 * [backup-simplify]: Simplify (- 0) into 0 5.289 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.289 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.289 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 5.289 * [backup-simplify]: Simplify (* phi1 0) into 0 5.289 * [backup-simplify]: Simplify (* phi2 0) into 0 5.290 * [backup-simplify]: Simplify (+ 0) into 0 5.290 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.291 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.291 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.291 * [backup-simplify]: Simplify (+ 0 0) into 0 5.292 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.293 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.293 * [backup-simplify]: Simplify (- 0) into 0 5.294 * [backup-simplify]: Simplify (+ 0 0) into 0 5.294 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 5.295 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.296 * [backup-simplify]: Simplify (+ (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.297 * [backup-simplify]: Simplify (+ (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) (* 0 0)) into (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.297 * [backup-simplify]: Simplify (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) 5.297 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) in lambda2 5.297 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) in lambda2 5.297 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.297 * [backup-simplify]: Simplify 1/2 into 1/2 5.297 * [taylor]: Taking taylor expansion of (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) in lambda2 5.298 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) in lambda2 5.298 * [taylor]: Taking taylor expansion of R in lambda2 5.298 * [backup-simplify]: Simplify R into R 5.298 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) in lambda2 5.298 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.298 * [backup-simplify]: Simplify 0 into 0 5.298 * [backup-simplify]: Simplify 1 into 1 5.298 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) in lambda2 5.298 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.298 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.298 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.298 * [backup-simplify]: Simplify -0.5 into -0.5 5.298 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.298 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.298 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.298 * [backup-simplify]: Simplify phi1 into phi1 5.298 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.298 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.298 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.298 * [backup-simplify]: Simplify phi2 into phi2 5.298 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.298 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.298 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.299 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.299 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.299 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.299 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.299 * [backup-simplify]: Simplify phi1 into phi1 5.299 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.299 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.300 * [backup-simplify]: Simplify (- 0) into 0 5.300 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.300 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.300 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) 5.301 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) into 0 5.301 * [backup-simplify]: Simplify (* R 0) into 0 5.301 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.301 * [backup-simplify]: Simplify (+ 0) into 0 5.302 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.302 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.302 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.303 * [backup-simplify]: Simplify (+ 0 0) into 0 5.303 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.305 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.305 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.306 * [backup-simplify]: Simplify (- 0) into 0 5.306 * [backup-simplify]: Simplify (+ 0 0) into 0 5.306 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (pow phi1 2))) into 0 5.307 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) 5.308 * [backup-simplify]: Simplify (+ (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) (* 0 0)) into (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) 5.308 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) into (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) 5.308 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in lambda2 5.308 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.308 * [backup-simplify]: Simplify 1/2 into 1/2 5.309 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2 5.309 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2 5.309 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.309 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.309 * [backup-simplify]: Simplify phi2 into phi2 5.309 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2 5.309 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.309 * [backup-simplify]: Simplify 0 into 0 5.309 * [backup-simplify]: Simplify 1 into 1 5.309 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 5.309 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.309 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.309 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.309 * [backup-simplify]: Simplify -0.5 into -0.5 5.309 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.309 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.309 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.309 * [backup-simplify]: Simplify phi1 into phi1 5.309 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.309 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.309 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.309 * [backup-simplify]: Simplify phi2 into phi2 5.309 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.309 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.310 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.310 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.310 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.310 * [taylor]: Taking taylor expansion of R in lambda2 5.310 * [backup-simplify]: Simplify R into R 5.310 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.310 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.311 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.311 * [backup-simplify]: Simplify (- 0) into 0 5.311 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.311 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.312 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 5.312 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 5.312 * [backup-simplify]: Simplify (+ 0) into 0 5.313 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.313 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.313 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.314 * [backup-simplify]: Simplify (+ 0 0) into 0 5.314 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.316 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.316 * [backup-simplify]: Simplify (- 0) into 0 5.317 * [backup-simplify]: Simplify (+ 0 0) into 0 5.317 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 5.318 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.318 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.319 * [backup-simplify]: Simplify (+ (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.319 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.320 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) into (/ 1/2 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.320 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (/ 1/2 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.321 * [backup-simplify]: Simplify (+ (/ 1/2 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) (/ 1/2 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) 5.322 * [backup-simplify]: Simplify (- (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) into (- (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 5.324 * [backup-simplify]: Simplify (+ (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) (- (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))))) into (- (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 5.324 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) in phi1 5.324 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) in phi1 5.324 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) in phi1 5.324 * [taylor]: Taking taylor expansion of phi2 in phi1 5.324 * [backup-simplify]: Simplify phi2 into phi2 5.324 * [taylor]: Taking taylor expansion of (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) in phi1 5.324 * [taylor]: Taking taylor expansion of R in phi1 5.324 * [backup-simplify]: Simplify R into R 5.324 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) in phi1 5.324 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.324 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.324 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.324 * [backup-simplify]: Simplify -0.5 into -0.5 5.325 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.325 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.325 * [taylor]: Taking taylor expansion of phi1 in phi1 5.325 * [backup-simplify]: Simplify 0 into 0 5.325 * [backup-simplify]: Simplify 1 into 1 5.325 * [backup-simplify]: Simplify (/ 1 1) into 1 5.325 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.325 * [taylor]: Taking taylor expansion of phi2 in phi1 5.325 * [backup-simplify]: Simplify phi2 into phi2 5.326 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.326 * [backup-simplify]: Simplify (+ 1 0) into 1 5.327 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.327 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.327 * [taylor]: Taking taylor expansion of phi1 in phi1 5.327 * [backup-simplify]: Simplify 0 into 0 5.327 * [backup-simplify]: Simplify 1 into 1 5.327 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.327 * [backup-simplify]: Simplify (* R 0) into 0 5.327 * [backup-simplify]: Simplify (* phi2 0) into 0 5.328 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.329 * [backup-simplify]: Simplify (+ (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* 0 0)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.329 * [backup-simplify]: Simplify (+ (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.330 * [backup-simplify]: Simplify (/ 1 (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.330 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in phi1 5.330 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) in phi1 5.330 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.330 * [backup-simplify]: Simplify 1/2 into 1/2 5.330 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) in phi1 5.330 * [taylor]: Taking taylor expansion of (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) in phi1 5.330 * [taylor]: Taking taylor expansion of R in phi1 5.330 * [backup-simplify]: Simplify R into R 5.330 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) in phi1 5.330 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.330 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.330 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.330 * [backup-simplify]: Simplify -0.5 into -0.5 5.330 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.330 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.330 * [taylor]: Taking taylor expansion of phi1 in phi1 5.330 * [backup-simplify]: Simplify 0 into 0 5.330 * [backup-simplify]: Simplify 1 into 1 5.331 * [backup-simplify]: Simplify (/ 1 1) into 1 5.331 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.331 * [taylor]: Taking taylor expansion of phi2 in phi1 5.331 * [backup-simplify]: Simplify phi2 into phi2 5.331 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.331 * [backup-simplify]: Simplify (+ 1 0) into 1 5.332 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.332 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.332 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.332 * [taylor]: Taking taylor expansion of phi1 in phi1 5.332 * [backup-simplify]: Simplify 0 into 0 5.332 * [backup-simplify]: Simplify 1 into 1 5.332 * [backup-simplify]: Simplify (* 1 1) into 1 5.333 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.333 * [backup-simplify]: Simplify (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.333 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.333 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi1 5.333 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.333 * [backup-simplify]: Simplify 1/2 into 1/2 5.333 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi1 5.333 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1 5.333 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.333 * [taylor]: Taking taylor expansion of phi2 in phi1 5.333 * [backup-simplify]: Simplify phi2 into phi2 5.333 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 5.333 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.333 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.334 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.334 * [backup-simplify]: Simplify -0.5 into -0.5 5.334 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.334 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.334 * [taylor]: Taking taylor expansion of phi1 in phi1 5.334 * [backup-simplify]: Simplify 0 into 0 5.334 * [backup-simplify]: Simplify 1 into 1 5.334 * [backup-simplify]: Simplify (/ 1 1) into 1 5.334 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.334 * [taylor]: Taking taylor expansion of phi2 in phi1 5.334 * [backup-simplify]: Simplify phi2 into phi2 5.334 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.335 * [backup-simplify]: Simplify (+ 1 0) into 1 5.335 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.335 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.335 * [taylor]: Taking taylor expansion of R in phi1 5.335 * [backup-simplify]: Simplify R into R 5.336 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.336 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.336 * [backup-simplify]: Simplify (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.337 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.337 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.338 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.338 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.339 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (/ 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into 0 5.340 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0 5.340 * [backup-simplify]: Simplify (+ 0 0) into 0 5.340 * [backup-simplify]: Simplify (- 0) into 0 5.341 * [backup-simplify]: Simplify (+ (/ 1 (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 0) into (/ 1 (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.341 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi2 5.341 * [taylor]: Taking taylor expansion of (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 5.341 * [taylor]: Taking taylor expansion of phi2 in phi2 5.341 * [backup-simplify]: Simplify 0 into 0 5.341 * [backup-simplify]: Simplify 1 into 1 5.341 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 5.341 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.341 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.341 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.341 * [backup-simplify]: Simplify -0.5 into -0.5 5.341 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.341 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.341 * [taylor]: Taking taylor expansion of phi1 in phi2 5.341 * [backup-simplify]: Simplify phi1 into phi1 5.341 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.341 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.341 * [taylor]: Taking taylor expansion of phi2 in phi2 5.341 * [backup-simplify]: Simplify 0 into 0 5.341 * [backup-simplify]: Simplify 1 into 1 5.342 * [backup-simplify]: Simplify (/ 1 1) into 1 5.342 * [backup-simplify]: Simplify (+ 0 1) into 1 5.342 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.342 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.343 * [taylor]: Taking taylor expansion of R in phi2 5.343 * [backup-simplify]: Simplify R into R 5.343 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.343 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 5.343 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 5.343 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.344 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.344 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R 5.344 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R 5.344 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 5.344 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 5.344 * [taylor]: Taking taylor expansion of -0.5 in R 5.344 * [backup-simplify]: Simplify -0.5 into -0.5 5.344 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 5.344 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 5.344 * [taylor]: Taking taylor expansion of phi1 in R 5.344 * [backup-simplify]: Simplify phi1 into phi1 5.344 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.344 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 5.344 * [taylor]: Taking taylor expansion of phi2 in R 5.344 * [backup-simplify]: Simplify phi2 into phi2 5.344 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.344 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.344 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.344 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.344 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.344 * [taylor]: Taking taylor expansion of R in R 5.344 * [backup-simplify]: Simplify 0 into 0 5.344 * [backup-simplify]: Simplify 1 into 1 5.345 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.345 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.345 * [backup-simplify]: Simplify (- 0) into 0 5.345 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.345 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.346 * [backup-simplify]: Simplify (+ 0) into 0 5.346 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.346 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.346 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.346 * [backup-simplify]: Simplify (+ 0 0) into 0 5.347 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.348 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.348 * [backup-simplify]: Simplify (- 0) into 0 5.348 * [backup-simplify]: Simplify (+ 0 0) into 0 5.349 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.349 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.349 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.349 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (/ 1/2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) 5.349 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (/ 1/2 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.350 * [backup-simplify]: Simplify (+ (/ 1/2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) (/ 1/2 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) 5.350 * [backup-simplify]: Simplify (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 5.351 * [backup-simplify]: Simplify (+ (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))))) into (- (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 5.351 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) in phi1 5.351 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi1 5.351 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi1 5.351 * [taylor]: Taking taylor expansion of phi2 in phi1 5.351 * [backup-simplify]: Simplify phi2 into phi2 5.351 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1 5.351 * [taylor]: Taking taylor expansion of phi1 in phi1 5.351 * [backup-simplify]: Simplify 0 into 0 5.351 * [backup-simplify]: Simplify 1 into 1 5.351 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 5.351 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.352 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.352 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.352 * [backup-simplify]: Simplify -0.5 into -0.5 5.352 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.352 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.352 * [taylor]: Taking taylor expansion of phi1 in phi1 5.352 * [backup-simplify]: Simplify 0 into 0 5.352 * [backup-simplify]: Simplify 1 into 1 5.352 * [backup-simplify]: Simplify (/ 1 1) into 1 5.352 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.352 * [taylor]: Taking taylor expansion of phi2 in phi1 5.352 * [backup-simplify]: Simplify phi2 into phi2 5.352 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.352 * [backup-simplify]: Simplify (+ 1 0) into 1 5.353 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.353 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.353 * [taylor]: Taking taylor expansion of R in phi1 5.353 * [backup-simplify]: Simplify R into R 5.353 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.353 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 5.353 * [backup-simplify]: Simplify (* phi2 0) into 0 5.353 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 5.354 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.354 * [backup-simplify]: Simplify (+ (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.354 * [backup-simplify]: Simplify (/ 1 (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.354 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in phi1 5.354 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi1 5.354 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.354 * [backup-simplify]: Simplify 1/2 into 1/2 5.354 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi1 5.354 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1 5.354 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.354 * [taylor]: Taking taylor expansion of phi2 in phi1 5.354 * [backup-simplify]: Simplify phi2 into phi2 5.354 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 5.354 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.355 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.355 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.355 * [backup-simplify]: Simplify -0.5 into -0.5 5.355 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.355 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.355 * [taylor]: Taking taylor expansion of phi1 in phi1 5.355 * [backup-simplify]: Simplify 0 into 0 5.355 * [backup-simplify]: Simplify 1 into 1 5.355 * [backup-simplify]: Simplify (/ 1 1) into 1 5.355 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.355 * [taylor]: Taking taylor expansion of phi2 in phi1 5.355 * [backup-simplify]: Simplify phi2 into phi2 5.355 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.355 * [backup-simplify]: Simplify (+ 1 0) into 1 5.356 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.356 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.356 * [taylor]: Taking taylor expansion of R in phi1 5.356 * [backup-simplify]: Simplify R into R 5.356 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.356 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.356 * [backup-simplify]: Simplify (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.356 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.356 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi1 5.356 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.356 * [backup-simplify]: Simplify 1/2 into 1/2 5.356 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi1 5.356 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1 5.356 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.356 * [taylor]: Taking taylor expansion of phi1 in phi1 5.357 * [backup-simplify]: Simplify 0 into 0 5.357 * [backup-simplify]: Simplify 1 into 1 5.357 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 5.357 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.357 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.357 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.357 * [backup-simplify]: Simplify -0.5 into -0.5 5.357 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.357 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.357 * [taylor]: Taking taylor expansion of phi1 in phi1 5.357 * [backup-simplify]: Simplify 0 into 0 5.357 * [backup-simplify]: Simplify 1 into 1 5.357 * [backup-simplify]: Simplify (/ 1 1) into 1 5.357 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.357 * [taylor]: Taking taylor expansion of phi2 in phi1 5.357 * [backup-simplify]: Simplify phi2 into phi2 5.357 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.357 * [backup-simplify]: Simplify (+ 1 0) into 1 5.358 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.358 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.358 * [taylor]: Taking taylor expansion of R in phi1 5.358 * [backup-simplify]: Simplify R into R 5.358 * [backup-simplify]: Simplify (* 1 1) into 1 5.358 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.358 * [backup-simplify]: Simplify (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.358 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.359 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 5.359 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.359 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0 5.360 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (/ 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into 0 5.360 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0 5.360 * [backup-simplify]: Simplify (+ 0 0) into 0 5.361 * [backup-simplify]: Simplify (- 0) into 0 5.361 * [backup-simplify]: Simplify (+ (/ 1 (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 0) into (/ 1 (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 5.361 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi2 5.361 * [taylor]: Taking taylor expansion of (* phi2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 5.361 * [taylor]: Taking taylor expansion of phi2 in phi2 5.361 * [backup-simplify]: Simplify 0 into 0 5.361 * [backup-simplify]: Simplify 1 into 1 5.361 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 5.361 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.361 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.361 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.361 * [backup-simplify]: Simplify -0.5 into -0.5 5.361 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.361 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.361 * [taylor]: Taking taylor expansion of phi1 in phi2 5.361 * [backup-simplify]: Simplify phi1 into phi1 5.361 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.361 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.361 * [taylor]: Taking taylor expansion of phi2 in phi2 5.361 * [backup-simplify]: Simplify 0 into 0 5.361 * [backup-simplify]: Simplify 1 into 1 5.361 * [backup-simplify]: Simplify (/ 1 1) into 1 5.362 * [backup-simplify]: Simplify (+ 0 1) into 1 5.362 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.362 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.362 * [taylor]: Taking taylor expansion of R in phi2 5.362 * [backup-simplify]: Simplify R into R 5.362 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.362 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 5.363 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 5.363 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 5.363 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 5.363 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R 5.363 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R 5.363 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 5.363 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 5.363 * [taylor]: Taking taylor expansion of -0.5 in R 5.363 * [backup-simplify]: Simplify -0.5 into -0.5 5.363 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 5.363 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 5.363 * [taylor]: Taking taylor expansion of phi1 in R 5.363 * [backup-simplify]: Simplify phi1 into phi1 5.363 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.363 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 5.363 * [taylor]: Taking taylor expansion of phi2 in R 5.363 * [backup-simplify]: Simplify phi2 into phi2 5.363 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.364 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.364 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.364 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.364 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.364 * [taylor]: Taking taylor expansion of R in R 5.364 * [backup-simplify]: Simplify 0 into 0 5.364 * [backup-simplify]: Simplify 1 into 1 5.364 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.364 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.364 * [backup-simplify]: Simplify (- 0) into 0 5.365 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.365 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.365 * [backup-simplify]: Simplify (+ 0) into 0 5.366 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.366 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.366 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.366 * [backup-simplify]: Simplify (+ 0 0) into 0 5.366 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.367 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.368 * [backup-simplify]: Simplify (- 0) into 0 5.368 * [backup-simplify]: Simplify (+ 0 0) into 0 5.368 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.368 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.368 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.369 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.370 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.370 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.370 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.370 * [backup-simplify]: Simplify (+ 0 0) into 0 5.371 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.371 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.372 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.372 * [backup-simplify]: Simplify (- 0) into 0 5.372 * [backup-simplify]: Simplify (+ 0 0) into 0 5.373 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0 5.373 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 5.373 * [taylor]: Taking taylor expansion of 0 in phi1 5.373 * [backup-simplify]: Simplify 0 into 0 5.374 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.374 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.375 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.375 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.375 * [backup-simplify]: Simplify (+ 0 0) into 0 5.376 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.376 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.376 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.377 * [backup-simplify]: Simplify (- 0) into 0 5.377 * [backup-simplify]: Simplify (+ 0 0) into 0 5.377 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 5.378 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0 5.378 * [taylor]: Taking taylor expansion of 0 in phi1 5.378 * [backup-simplify]: Simplify 0 into 0 5.378 * [taylor]: Taking taylor expansion of 0 in phi2 5.378 * [backup-simplify]: Simplify 0 into 0 5.378 * [taylor]: Taking taylor expansion of 0 in phi2 5.378 * [backup-simplify]: Simplify 0 into 0 5.378 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 5.378 * [taylor]: Taking taylor expansion of 0 in phi2 5.378 * [backup-simplify]: Simplify 0 into 0 5.378 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 5.379 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0 5.379 * [taylor]: Taking taylor expansion of 0 in phi2 5.379 * [backup-simplify]: Simplify 0 into 0 5.379 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R 5.379 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 5.379 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 5.379 * [taylor]: Taking taylor expansion of -0.5 in R 5.379 * [backup-simplify]: Simplify -0.5 into -0.5 5.379 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 5.379 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 5.379 * [taylor]: Taking taylor expansion of phi1 in R 5.379 * [backup-simplify]: Simplify phi1 into phi1 5.379 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.379 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 5.379 * [taylor]: Taking taylor expansion of phi2 in R 5.379 * [backup-simplify]: Simplify phi2 into phi2 5.379 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.379 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.379 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.380 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.380 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.380 * [taylor]: Taking taylor expansion of R in R 5.380 * [backup-simplify]: Simplify 0 into 0 5.380 * [backup-simplify]: Simplify 1 into 1 5.380 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.380 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.380 * [backup-simplify]: Simplify (- 0) into 0 5.380 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.381 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.381 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.383 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) (* (/ 1 (/ 1 (- R))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1))))))) (* (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2)))))))) into (+ (/ (* phi2 (* R phi1)) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (+ (/ (* phi2 (* lambda2 (* phi1 R))) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (* lambda2 (* (cos (* 0.5 (+ phi2 phi1))) R)))) 5.383 * * * * [progress]: [ 4 / 4 ] generating series at (2 1) 5.383 * [backup-simplify]: Simplify (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) into (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) 5.383 * [approximate]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in (lambda1 lambda2 phi1 phi2) around 0 5.383 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in phi2 5.383 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 5.383 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in phi2 5.383 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in phi2 5.383 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi2 5.383 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 5.383 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.383 * [backup-simplify]: Simplify lambda1 into lambda1 5.383 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.383 * [backup-simplify]: Simplify lambda2 into lambda2 5.383 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 5.384 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 5.384 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.384 * [backup-simplify]: Simplify 0.5 into 0.5 5.384 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 5.384 * [taylor]: Taking taylor expansion of phi2 in phi2 5.384 * [backup-simplify]: Simplify 0 into 0 5.384 * [backup-simplify]: Simplify 1 into 1 5.384 * [taylor]: Taking taylor expansion of phi1 in phi2 5.384 * [backup-simplify]: Simplify phi1 into phi1 5.384 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 5.384 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.384 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.384 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.384 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi2 5.384 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 5.384 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.384 * [backup-simplify]: Simplify lambda1 into lambda1 5.384 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.384 * [backup-simplify]: Simplify lambda2 into lambda2 5.384 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 5.384 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 5.384 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.384 * [backup-simplify]: Simplify 0.5 into 0.5 5.384 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 5.384 * [taylor]: Taking taylor expansion of phi2 in phi2 5.384 * [backup-simplify]: Simplify 0 into 0 5.384 * [backup-simplify]: Simplify 1 into 1 5.384 * [taylor]: Taking taylor expansion of phi1 in phi2 5.384 * [backup-simplify]: Simplify phi1 into phi1 5.384 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 5.384 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.384 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.384 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.384 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi2 5.384 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2 5.384 * [taylor]: Taking taylor expansion of phi1 in phi2 5.384 * [backup-simplify]: Simplify phi1 into phi1 5.384 * [taylor]: Taking taylor expansion of phi2 in phi2 5.384 * [backup-simplify]: Simplify 0 into 0 5.384 * [backup-simplify]: Simplify 1 into 1 5.384 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2 5.385 * [taylor]: Taking taylor expansion of phi1 in phi2 5.385 * [backup-simplify]: Simplify phi1 into phi1 5.385 * [taylor]: Taking taylor expansion of phi2 in phi2 5.385 * [backup-simplify]: Simplify 0 into 0 5.385 * [backup-simplify]: Simplify 1 into 1 5.385 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.385 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 5.385 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 5.385 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 5.389 * [backup-simplify]: Simplify (- 0) into 0 5.389 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 5.389 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) 5.389 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.389 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 5.389 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 5.390 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 5.390 * [backup-simplify]: Simplify (- 0) into 0 5.390 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 5.390 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) 5.390 * [backup-simplify]: Simplify (* (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) (* (cos (* 0.5 phi1)) (- lambda1 lambda2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow (- lambda1 lambda2) 2)) 5.391 * [backup-simplify]: Simplify (- 0) into 0 5.391 * [backup-simplify]: Simplify (+ phi1 0) into phi1 5.391 * [backup-simplify]: Simplify (- 0) into 0 5.391 * [backup-simplify]: Simplify (+ phi1 0) into phi1 5.391 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.391 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow (- lambda1 lambda2) 2)) (pow phi1 2)) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 5.392 * [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))))) 5.392 * [backup-simplify]: Simplify (+ 0) into 0 5.393 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 5.393 * [backup-simplify]: Simplify (+ 1 0) into 1 5.393 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 5.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.395 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 5.395 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.395 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.396 * [backup-simplify]: Simplify (- 0) into 0 5.396 * [backup-simplify]: Simplify (+ 0 0) into 0 5.396 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) 5.396 * [backup-simplify]: Simplify (+ 0) into 0 5.397 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 5.397 * [backup-simplify]: Simplify (+ 1 0) into 1 5.397 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 5.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.399 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 5.399 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.399 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.400 * [backup-simplify]: Simplify (- 0) into 0 5.400 * [backup-simplify]: Simplify (+ 0 0) into 0 5.400 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) 5.401 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1)))) (* (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) (* (cos (* 0.5 phi1)) (- lambda1 lambda2)))) 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)))))) 5.401 * [backup-simplify]: Simplify (- 1) into -1 5.401 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.401 * [backup-simplify]: Simplify (- 1) into -1 5.402 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.402 * [backup-simplify]: Simplify (+ (* phi1 -1) (* -1 phi1)) into (- (* 2 phi1)) 5.403 * [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))) 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)))) 5.404 * [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)))))))) 5.404 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in phi1 5.404 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 5.404 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in phi1 5.404 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in phi1 5.404 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi1 5.404 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 5.404 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.404 * [backup-simplify]: Simplify lambda1 into lambda1 5.404 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.404 * [backup-simplify]: Simplify lambda2 into lambda2 5.404 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.405 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.405 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.405 * [backup-simplify]: Simplify 0.5 into 0.5 5.405 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.405 * [taylor]: Taking taylor expansion of phi2 in phi1 5.405 * [backup-simplify]: Simplify phi2 into phi2 5.405 * [taylor]: Taking taylor expansion of phi1 in phi1 5.405 * [backup-simplify]: Simplify 0 into 0 5.405 * [backup-simplify]: Simplify 1 into 1 5.405 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.405 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.405 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.405 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.405 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi1 5.405 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 5.405 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.405 * [backup-simplify]: Simplify lambda1 into lambda1 5.405 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.405 * [backup-simplify]: Simplify lambda2 into lambda2 5.405 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.405 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.405 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.405 * [backup-simplify]: Simplify 0.5 into 0.5 5.405 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.405 * [taylor]: Taking taylor expansion of phi2 in phi1 5.405 * [backup-simplify]: Simplify phi2 into phi2 5.405 * [taylor]: Taking taylor expansion of phi1 in phi1 5.405 * [backup-simplify]: Simplify 0 into 0 5.405 * [backup-simplify]: Simplify 1 into 1 5.405 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.405 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.405 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.405 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.405 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi1 5.405 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1 5.405 * [taylor]: Taking taylor expansion of phi1 in phi1 5.405 * [backup-simplify]: Simplify 0 into 0 5.405 * [backup-simplify]: Simplify 1 into 1 5.405 * [taylor]: Taking taylor expansion of phi2 in phi1 5.405 * [backup-simplify]: Simplify phi2 into phi2 5.405 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1 5.405 * [taylor]: Taking taylor expansion of phi1 in phi1 5.405 * [backup-simplify]: Simplify 0 into 0 5.405 * [backup-simplify]: Simplify 1 into 1 5.405 * [taylor]: Taking taylor expansion of phi2 in phi1 5.405 * [backup-simplify]: Simplify phi2 into phi2 5.405 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.406 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 5.406 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.406 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.406 * [backup-simplify]: Simplify (- 0) into 0 5.406 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.406 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) 5.406 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.406 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 5.406 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.406 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.407 * [backup-simplify]: Simplify (- 0) into 0 5.407 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.407 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) 5.407 * [backup-simplify]: Simplify (* (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) (* (cos (* 0.5 phi2)) (- lambda1 lambda2))) into (* (pow (cos (* 0.5 phi2)) 2) (pow (- lambda1 lambda2) 2)) 5.407 * [backup-simplify]: Simplify (- phi2) into (- phi2) 5.407 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2) 5.407 * [backup-simplify]: Simplify (- phi2) into (- phi2) 5.407 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2) 5.407 * [backup-simplify]: Simplify (* (- phi2) (- phi2)) into (pow phi2 2) 5.407 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (- lambda1 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))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 5.408 * [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))))) 5.409 * [backup-simplify]: Simplify (+ 0) into 0 5.409 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 5.409 * [backup-simplify]: Simplify (+ 0 1) into 1 5.410 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 5.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.411 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 5.411 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.412 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.412 * [backup-simplify]: Simplify (- 0) into 0 5.412 * [backup-simplify]: Simplify (+ 0 0) into 0 5.412 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) 5.412 * [backup-simplify]: Simplify (+ 0) into 0 5.413 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 5.413 * [backup-simplify]: Simplify (+ 0 1) into 1 5.413 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 5.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.415 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 5.416 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.416 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.416 * [backup-simplify]: Simplify (- 0) into 0 5.416 * [backup-simplify]: Simplify (+ 0 0) into 0 5.416 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) 5.417 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1)))) (* (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) (* (cos (* 0.5 phi2)) (- lambda1 lambda2)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 5.417 * [backup-simplify]: Simplify (- 0) into 0 5.417 * [backup-simplify]: Simplify (+ 1 0) into 1 5.418 * [backup-simplify]: Simplify (- 0) into 0 5.418 * [backup-simplify]: Simplify (+ 1 0) into 1 5.418 * [backup-simplify]: Simplify (+ (* (- phi2) 1) (* 1 (- phi2))) into (- (* 2 phi2)) 5.419 * [backup-simplify]: Simplify (+ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2 phi2))) 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))))))) 5.420 * [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)))))))) 5.420 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda2 5.421 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 5.421 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda2 5.421 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda2 5.421 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda2 5.421 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 5.421 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.421 * [backup-simplify]: Simplify lambda1 into lambda1 5.421 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.421 * [backup-simplify]: Simplify 0 into 0 5.421 * [backup-simplify]: Simplify 1 into 1 5.421 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.421 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.421 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.421 * [backup-simplify]: Simplify 0.5 into 0.5 5.421 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.421 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.421 * [backup-simplify]: Simplify phi2 into phi2 5.421 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.421 * [backup-simplify]: Simplify phi1 into phi1 5.421 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.421 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.421 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.421 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.421 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda2 5.421 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 5.421 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.421 * [backup-simplify]: Simplify lambda1 into lambda1 5.421 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.421 * [backup-simplify]: Simplify 0 into 0 5.421 * [backup-simplify]: Simplify 1 into 1 5.421 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.421 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.421 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.421 * [backup-simplify]: Simplify 0.5 into 0.5 5.421 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.421 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.421 * [backup-simplify]: Simplify phi2 into phi2 5.421 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.421 * [backup-simplify]: Simplify phi1 into phi1 5.421 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.421 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.422 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.422 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.422 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda2 5.422 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2 5.422 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.422 * [backup-simplify]: Simplify phi1 into phi1 5.422 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.422 * [backup-simplify]: Simplify phi2 into phi2 5.422 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2 5.422 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.422 * [backup-simplify]: Simplify phi1 into phi1 5.422 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.422 * [backup-simplify]: Simplify phi2 into phi2 5.422 * [backup-simplify]: Simplify (- 0) into 0 5.422 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 5.422 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.422 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.423 * [backup-simplify]: Simplify (- 0) into 0 5.423 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.423 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi2 phi1)))) into (* (cos (* 0.5 (+ phi2 phi1))) lambda1) 5.423 * [backup-simplify]: Simplify (- 0) into 0 5.423 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 5.423 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.423 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.423 * [backup-simplify]: Simplify (- 0) into 0 5.424 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.424 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi2 phi1)))) into (* (cos (* 0.5 (+ phi2 phi1))) lambda1) 5.424 * [backup-simplify]: Simplify (* (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 5.424 * [backup-simplify]: Simplify (- phi2) into (- phi2) 5.424 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 5.424 * [backup-simplify]: Simplify (- phi2) into (- phi2) 5.424 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 5.424 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 5.424 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1))) 5.425 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))) 5.425 * [backup-simplify]: Simplify (+ 0) into 0 5.426 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.426 * [backup-simplify]: Simplify (+ 0 0) into 0 5.426 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.427 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.427 * [backup-simplify]: Simplify (- 0) into 0 5.427 * [backup-simplify]: Simplify (+ 0 0) into 0 5.428 * [backup-simplify]: Simplify (- 1) into -1 5.428 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.428 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi2 phi1))))) into (- (cos (* 0.5 (+ phi2 phi1)))) 5.428 * [backup-simplify]: Simplify (+ 0) into 0 5.429 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.429 * [backup-simplify]: Simplify (+ 0 0) into 0 5.429 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.430 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.430 * [backup-simplify]: Simplify (- 0) into 0 5.430 * [backup-simplify]: Simplify (+ 0 0) into 0 5.431 * [backup-simplify]: Simplify (- 1) into -1 5.431 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.431 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi2 phi1))))) into (- (cos (* 0.5 (+ phi2 phi1)))) 5.431 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (- (cos (* 0.5 (+ phi2 phi1))))) (* (- (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 5.432 * [backup-simplify]: Simplify (- 0) into 0 5.432 * [backup-simplify]: Simplify (+ 0 0) into 0 5.432 * [backup-simplify]: Simplify (- 0) into 0 5.432 * [backup-simplify]: Simplify (+ 0 0) into 0 5.432 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 5.433 * [backup-simplify]: Simplify (+ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 0) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 5.434 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1))))))) 5.434 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda1 5.434 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 5.434 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1 5.434 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda1 5.434 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 5.434 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 5.434 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.434 * [backup-simplify]: Simplify 0 into 0 5.434 * [backup-simplify]: Simplify 1 into 1 5.434 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.434 * [backup-simplify]: Simplify lambda2 into lambda2 5.434 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.434 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.434 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.434 * [backup-simplify]: Simplify 0.5 into 0.5 5.434 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.434 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.434 * [backup-simplify]: Simplify phi2 into phi2 5.434 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.434 * [backup-simplify]: Simplify phi1 into phi1 5.434 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.434 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.434 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.434 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.434 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 5.434 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 5.434 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.434 * [backup-simplify]: Simplify 0 into 0 5.434 * [backup-simplify]: Simplify 1 into 1 5.434 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.434 * [backup-simplify]: Simplify lambda2 into lambda2 5.434 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.434 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.434 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.434 * [backup-simplify]: Simplify 0.5 into 0.5 5.434 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.434 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.434 * [backup-simplify]: Simplify phi2 into phi2 5.434 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.434 * [backup-simplify]: Simplify phi1 into phi1 5.435 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.435 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.435 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.435 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.435 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1 5.435 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 5.435 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.435 * [backup-simplify]: Simplify phi1 into phi1 5.435 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.435 * [backup-simplify]: Simplify phi2 into phi2 5.435 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 5.435 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.435 * [backup-simplify]: Simplify phi1 into phi1 5.435 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.435 * [backup-simplify]: Simplify phi2 into phi2 5.435 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.435 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 5.435 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.435 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.435 * [backup-simplify]: Simplify (- 0) into 0 5.436 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.436 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 5.436 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.436 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 5.436 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.436 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.436 * [backup-simplify]: Simplify (- 0) into 0 5.436 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.436 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 5.437 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 5.437 * [backup-simplify]: Simplify (- phi2) into (- phi2) 5.437 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 5.437 * [backup-simplify]: Simplify (- phi2) into (- phi2) 5.437 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 5.437 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 5.438 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 5.439 * [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)))) 5.439 * [backup-simplify]: Simplify (+ 0) into 0 5.440 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.440 * [backup-simplify]: Simplify (+ 0 0) into 0 5.440 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.442 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.442 * [backup-simplify]: Simplify (- 0) into 0 5.442 * [backup-simplify]: Simplify (+ 0 0) into 0 5.443 * [backup-simplify]: Simplify (- 0) into 0 5.443 * [backup-simplify]: Simplify (+ 1 0) into 1 5.443 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 5.444 * [backup-simplify]: Simplify (+ 0) into 0 5.444 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.445 * [backup-simplify]: Simplify (+ 0 0) into 0 5.445 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.446 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.446 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.447 * [backup-simplify]: Simplify (- 0) into 0 5.447 * [backup-simplify]: Simplify (+ 0 0) into 0 5.447 * [backup-simplify]: Simplify (- 0) into 0 5.448 * [backup-simplify]: Simplify (+ 1 0) into 1 5.448 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 5.449 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.449 * [backup-simplify]: Simplify (- 0) into 0 5.449 * [backup-simplify]: Simplify (+ 0 0) into 0 5.450 * [backup-simplify]: Simplify (- 0) into 0 5.450 * [backup-simplify]: Simplify (+ 0 0) into 0 5.450 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 5.451 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.452 * [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)))) 5.452 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda1 5.452 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 5.452 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1 5.452 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda1 5.452 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 5.452 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 5.452 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.452 * [backup-simplify]: Simplify 0 into 0 5.452 * [backup-simplify]: Simplify 1 into 1 5.452 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.452 * [backup-simplify]: Simplify lambda2 into lambda2 5.453 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.453 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.453 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.453 * [backup-simplify]: Simplify 0.5 into 0.5 5.453 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.453 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.453 * [backup-simplify]: Simplify phi2 into phi2 5.453 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.453 * [backup-simplify]: Simplify phi1 into phi1 5.453 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.453 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.453 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.453 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.453 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 5.453 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 5.453 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.453 * [backup-simplify]: Simplify 0 into 0 5.453 * [backup-simplify]: Simplify 1 into 1 5.453 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.453 * [backup-simplify]: Simplify lambda2 into lambda2 5.453 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 5.453 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 5.453 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.453 * [backup-simplify]: Simplify 0.5 into 0.5 5.453 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 5.453 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.453 * [backup-simplify]: Simplify phi2 into phi2 5.453 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.453 * [backup-simplify]: Simplify phi1 into phi1 5.454 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.454 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.454 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.454 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.454 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1 5.454 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 5.454 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.454 * [backup-simplify]: Simplify phi1 into phi1 5.454 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.454 * [backup-simplify]: Simplify phi2 into phi2 5.454 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 5.454 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.454 * [backup-simplify]: Simplify phi1 into phi1 5.454 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.454 * [backup-simplify]: Simplify phi2 into phi2 5.454 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.454 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 5.454 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.454 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.455 * [backup-simplify]: Simplify (- 0) into 0 5.455 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.455 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 5.455 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.455 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 5.455 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.456 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.456 * [backup-simplify]: Simplify (- 0) into 0 5.456 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.456 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 5.457 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 5.457 * [backup-simplify]: Simplify (- phi2) into (- phi2) 5.457 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 5.457 * [backup-simplify]: Simplify (- phi2) into (- phi2) 5.457 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 5.457 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 5.457 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 5.458 * [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)))) 5.459 * [backup-simplify]: Simplify (+ 0) into 0 5.459 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.460 * [backup-simplify]: Simplify (+ 0 0) into 0 5.460 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.461 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.462 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.462 * [backup-simplify]: Simplify (- 0) into 0 5.462 * [backup-simplify]: Simplify (+ 0 0) into 0 5.463 * [backup-simplify]: Simplify (- 0) into 0 5.463 * [backup-simplify]: Simplify (+ 1 0) into 1 5.463 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 5.464 * [backup-simplify]: Simplify (+ 0) into 0 5.464 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.464 * [backup-simplify]: Simplify (+ 0 0) into 0 5.465 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.466 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.467 * [backup-simplify]: Simplify (- 0) into 0 5.467 * [backup-simplify]: Simplify (+ 0 0) into 0 5.468 * [backup-simplify]: Simplify (- 0) into 0 5.468 * [backup-simplify]: Simplify (+ 1 0) into 1 5.468 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 5.469 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.469 * [backup-simplify]: Simplify (- 0) into 0 5.470 * [backup-simplify]: Simplify (+ 0 0) into 0 5.470 * [backup-simplify]: Simplify (- 0) into 0 5.470 * [backup-simplify]: Simplify (+ 0 0) into 0 5.470 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 5.471 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 5.472 * [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)))) 5.472 * [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 5.472 * [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 5.472 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 5.472 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.472 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.473 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.473 * [backup-simplify]: Simplify 0 into 0 5.473 * [backup-simplify]: Simplify 1 into 1 5.473 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.473 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.473 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.473 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.473 * [backup-simplify]: Simplify 0.5 into 0.5 5.473 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.473 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.473 * [backup-simplify]: Simplify phi2 into phi2 5.473 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.473 * [backup-simplify]: Simplify phi1 into phi1 5.473 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.473 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.473 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.473 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.473 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.474 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.474 * [backup-simplify]: Simplify (- 0) into 0 5.474 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.474 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 5.474 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.474 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.474 * [backup-simplify]: Simplify phi1 into phi1 5.474 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.475 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.475 * [backup-simplify]: Simplify phi2 into phi2 5.475 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.475 * [taylor]: Taking taylor expansion of 2 in lambda2 5.475 * [backup-simplify]: Simplify 2 into 2 5.475 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.475 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.475 * [backup-simplify]: Simplify phi2 into phi2 5.475 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.475 * [backup-simplify]: Simplify phi1 into phi1 5.475 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.475 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.475 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.475 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 5.475 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.476 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.476 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.476 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 5.476 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 5.477 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.477 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.477 * [backup-simplify]: Simplify (+ 0 0) into 0 5.477 * [backup-simplify]: Simplify (+ 0 0) into 0 5.478 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.478 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.478 * [backup-simplify]: Simplify (- 0) into 0 5.479 * [backup-simplify]: Simplify (+ 0 0) into 0 5.479 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 5.479 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 5.479 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 5.479 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.479 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.479 * [taylor]: Taking taylor expansion of phi2 in phi1 5.479 * [backup-simplify]: Simplify phi2 into phi2 5.479 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.479 * [taylor]: Taking taylor expansion of phi1 in phi1 5.479 * [backup-simplify]: Simplify 0 into 0 5.479 * [backup-simplify]: Simplify 1 into 1 5.479 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.480 * [taylor]: Taking taylor expansion of 2 in phi1 5.480 * [backup-simplify]: Simplify 2 into 2 5.480 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.480 * [taylor]: Taking taylor expansion of phi2 in phi1 5.480 * [backup-simplify]: Simplify phi2 into phi2 5.480 * [taylor]: Taking taylor expansion of phi1 in phi1 5.480 * [backup-simplify]: Simplify 0 into 0 5.480 * [backup-simplify]: Simplify 1 into 1 5.480 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.480 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.480 * [backup-simplify]: Simplify (* phi2 0) into 0 5.480 * [backup-simplify]: Simplify (* 2 0) into 0 5.481 * [backup-simplify]: Simplify (- 0) into 0 5.481 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.481 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 5.481 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.482 * [backup-simplify]: Simplify (+ 0 0) into 0 5.482 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.482 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.482 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.483 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.483 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 5.483 * [taylor]: Taking taylor expansion of phi2 in phi2 5.483 * [backup-simplify]: Simplify 0 into 0 5.483 * [backup-simplify]: Simplify 1 into 1 5.483 * [backup-simplify]: Simplify 0 into 0 5.483 * [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 5.483 * [taylor]: Taking taylor expansion of -1 in lambda2 5.483 * [backup-simplify]: Simplify -1 into -1 5.483 * [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 5.483 * [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 5.483 * [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 5.483 * [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 5.483 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 5.483 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.483 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.483 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.483 * [backup-simplify]: Simplify 0 into 0 5.483 * [backup-simplify]: Simplify 1 into 1 5.483 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.483 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.483 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.483 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.483 * [backup-simplify]: Simplify 0.5 into 0.5 5.483 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.483 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.484 * [backup-simplify]: Simplify phi2 into phi2 5.484 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.484 * [backup-simplify]: Simplify phi1 into phi1 5.484 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.484 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.484 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.484 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.484 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.484 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.485 * [backup-simplify]: Simplify (- 0) into 0 5.485 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.485 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 5.485 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.485 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.485 * [backup-simplify]: Simplify phi1 into phi1 5.485 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.485 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.485 * [backup-simplify]: Simplify phi2 into phi2 5.485 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.485 * [taylor]: Taking taylor expansion of 2 in lambda2 5.485 * [backup-simplify]: Simplify 2 into 2 5.485 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.485 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.485 * [backup-simplify]: Simplify phi2 into phi2 5.485 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.485 * [backup-simplify]: Simplify phi1 into phi1 5.485 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.485 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.486 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.486 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 5.486 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.486 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.486 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.486 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 5.487 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 5.487 * [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))))) 5.487 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.487 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.488 * [backup-simplify]: Simplify (+ 0 0) into 0 5.488 * [backup-simplify]: Simplify (+ 0 0) into 0 5.488 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.489 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.489 * [backup-simplify]: Simplify (- 0) into 0 5.490 * [backup-simplify]: Simplify (+ 0 0) into 0 5.491 * [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 5.491 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 5.491 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.491 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.491 * [backup-simplify]: Simplify 0 into 0 5.491 * [backup-simplify]: Simplify 1 into 1 5.491 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.491 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.491 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.491 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.491 * [backup-simplify]: Simplify 0.5 into 0.5 5.491 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.491 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.491 * [backup-simplify]: Simplify phi2 into phi2 5.491 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.491 * [backup-simplify]: Simplify phi1 into phi1 5.492 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.492 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.492 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.492 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.492 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.492 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.493 * [backup-simplify]: Simplify (- 0) into 0 5.493 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.493 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.493 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 5.494 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 5.494 * [backup-simplify]: Simplify (* -1 0) into 0 5.494 * [taylor]: Taking taylor expansion of 0 in phi1 5.494 * [backup-simplify]: Simplify 0 into 0 5.494 * [taylor]: Taking taylor expansion of 0 in phi2 5.494 * [backup-simplify]: Simplify 0 into 0 5.494 * [backup-simplify]: Simplify 0 into 0 5.494 * [taylor]: Taking taylor expansion of 0 in phi1 5.494 * [backup-simplify]: Simplify 0 into 0 5.494 * [taylor]: Taking taylor expansion of 0 in phi2 5.495 * [backup-simplify]: Simplify 0 into 0 5.495 * [backup-simplify]: Simplify 0 into 0 5.495 * [taylor]: Taking taylor expansion of -1 in phi2 5.495 * [backup-simplify]: Simplify -1 into -1 5.495 * [backup-simplify]: Simplify -1 into -1 5.495 * [backup-simplify]: Simplify 1 into 1 5.496 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.496 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 5.497 * [backup-simplify]: Simplify (+ 0 0) into 0 5.498 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 5.498 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.499 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 5.499 * [backup-simplify]: Simplify (- 0) into 0 5.500 * [backup-simplify]: Simplify (+ 0 0) into 0 5.500 * [backup-simplify]: Simplify (- 0) into 0 5.500 * [backup-simplify]: Simplify (+ 0 0) into 0 5.501 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 5.502 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.503 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 5.503 * [backup-simplify]: Simplify (+ 0 0) into 0 5.504 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 5.505 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.505 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 5.506 * [backup-simplify]: Simplify (- 0) into 0 5.506 * [backup-simplify]: Simplify (+ 0 0) into 0 5.506 * [backup-simplify]: Simplify (- 0) into 0 5.507 * [backup-simplify]: Simplify (+ 0 0) into 0 5.507 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 5.508 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 0) (+ (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (* 0 (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.508 * [backup-simplify]: Simplify (- 0) into 0 5.508 * [backup-simplify]: Simplify (+ 0 0) into 0 5.509 * [backup-simplify]: Simplify (- 0) into 0 5.509 * [backup-simplify]: Simplify (+ 0 0) into 0 5.509 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (+ (* 0 0) (* 0 (- phi1 phi2)))) into 0 5.509 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.511 * [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))))))) 5.511 * [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 5.511 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.511 * [backup-simplify]: Simplify 1/2 into 1/2 5.511 * [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 5.511 * [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 5.511 * [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 5.511 * [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 5.511 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 5.512 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.512 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.512 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.512 * [backup-simplify]: Simplify 0 into 0 5.512 * [backup-simplify]: Simplify 1 into 1 5.512 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.512 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.512 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.512 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.512 * [backup-simplify]: Simplify 0.5 into 0.5 5.512 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.512 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.512 * [backup-simplify]: Simplify phi2 into phi2 5.512 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.512 * [backup-simplify]: Simplify phi1 into phi1 5.512 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.512 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.512 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.512 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.512 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.512 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.512 * [backup-simplify]: Simplify (- 0) into 0 5.513 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.513 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 5.513 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.513 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.513 * [backup-simplify]: Simplify phi2 into phi2 5.513 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.513 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.513 * [backup-simplify]: Simplify phi1 into phi1 5.513 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.513 * [taylor]: Taking taylor expansion of 2 in lambda2 5.513 * [backup-simplify]: Simplify 2 into 2 5.513 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.513 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.513 * [backup-simplify]: Simplify phi2 into phi2 5.513 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.513 * [backup-simplify]: Simplify phi1 into phi1 5.513 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.513 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.513 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 5.513 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 5.513 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.513 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.513 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.514 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 5.514 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 5.514 * [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))))) 5.514 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.514 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.515 * [backup-simplify]: Simplify (+ 0 0) into 0 5.518 * [backup-simplify]: Simplify (+ 0 0) into 0 5.518 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 5.519 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 5.519 * [backup-simplify]: Simplify (- 0) into 0 5.519 * [backup-simplify]: Simplify (+ 0 0) into 0 5.520 * [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 5.520 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 5.520 * [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 5.520 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.520 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.520 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.520 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.520 * [backup-simplify]: Simplify 0.5 into 0.5 5.520 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.520 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.521 * [backup-simplify]: Simplify phi2 into phi2 5.521 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.521 * [backup-simplify]: Simplify phi1 into phi1 5.521 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.521 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.521 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.521 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.521 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.521 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.521 * [backup-simplify]: Simplify (- 0) into 0 5.521 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.521 * [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 5.521 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2 5.521 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.521 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.521 * [backup-simplify]: Simplify 0 into 0 5.521 * [backup-simplify]: Simplify 1 into 1 5.521 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2 5.521 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.521 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.521 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.521 * [backup-simplify]: Simplify 0.5 into 0.5 5.522 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.522 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.522 * [backup-simplify]: Simplify phi2 into phi2 5.522 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.522 * [backup-simplify]: Simplify phi1 into phi1 5.522 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.522 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.522 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.522 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.522 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.522 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.522 * [backup-simplify]: Simplify (- 0) into 0 5.522 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.522 * [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 5.522 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 5.522 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 5.522 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.522 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.522 * [backup-simplify]: Simplify 0 into 0 5.522 * [backup-simplify]: Simplify 1 into 1 5.522 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 5.522 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 5.522 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 5.522 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.523 * [backup-simplify]: Simplify 0.5 into 0.5 5.523 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 5.523 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.523 * [backup-simplify]: Simplify phi2 into phi2 5.523 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.523 * [backup-simplify]: Simplify phi1 into phi1 5.523 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 5.523 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 5.523 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 5.523 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 5.523 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 5.523 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 5.523 * [backup-simplify]: Simplify (- 0) into 0 5.523 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 5.523 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 5.523 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.523 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.523 * [backup-simplify]: Simplify phi2 into phi2 5.523 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.523 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.523 * [backup-simplify]: Simplify phi1 into phi1 5.523 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 5.523 * [taylor]: Taking taylor expansion of 2 in lambda2 5.523 * [backup-simplify]: Simplify 2 into 2 5.523 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.523 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.524 * [backup-simplify]: Simplify phi2 into phi2 5.524 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.524 * [backup-simplify]: Simplify phi1 into phi1 5.524 * [backup-simplify]: Simplify (* 1 1) into 1 5.524 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.524 * [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) 5.524 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 5.524 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.524 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.525 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 5.525 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 5.525 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.525 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 5.525 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 5.525 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 5.525 * [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)))) 5.526 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.526 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.526 * [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)))))) 5.526 * [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))))))) 5.526 * [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 5.527 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.527 * [backup-simplify]: Simplify 1/2 into 1/2 5.527 * [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 5.527 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 5.527 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.527 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.527 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.527 * [backup-simplify]: Simplify 0.5 into 0.5 5.527 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.527 * [taylor]: Taking taylor expansion of phi2 in phi1 5.527 * [backup-simplify]: Simplify phi2 into phi2 5.527 * [taylor]: Taking taylor expansion of phi1 in phi1 5.527 * [backup-simplify]: Simplify 0 into 0 5.527 * [backup-simplify]: Simplify 1 into 1 5.527 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.527 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.527 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.527 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.527 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.527 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.527 * [backup-simplify]: Simplify (- 0) into 0 5.527 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.528 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi1 5.528 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1 5.528 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1 5.528 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 5.528 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.528 * [taylor]: Taking taylor expansion of phi1 in phi1 5.528 * [backup-simplify]: Simplify 0 into 0 5.528 * [backup-simplify]: Simplify 1 into 1 5.528 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.528 * [taylor]: Taking taylor expansion of phi2 in phi1 5.528 * [backup-simplify]: Simplify phi2 into phi2 5.528 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.528 * [taylor]: Taking taylor expansion of 2 in phi1 5.528 * [backup-simplify]: Simplify 2 into 2 5.528 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.528 * [taylor]: Taking taylor expansion of phi2 in phi1 5.528 * [backup-simplify]: Simplify phi2 into phi2 5.528 * [taylor]: Taking taylor expansion of phi1 in phi1 5.528 * [backup-simplify]: Simplify 0 into 0 5.528 * [backup-simplify]: Simplify 1 into 1 5.528 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.528 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 5.528 * [backup-simplify]: Simplify (* phi2 0) into 0 5.528 * [backup-simplify]: Simplify (* 2 0) into 0 5.529 * [backup-simplify]: Simplify (- 0) into 0 5.529 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.529 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.529 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 5.529 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.529 * [backup-simplify]: Simplify (+ 0 0) into 0 5.529 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.530 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.530 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.530 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.530 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 5.530 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 5.530 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.530 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (/ 1 phi2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 5.531 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 5.531 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 5.531 * [taylor]: Taking taylor expansion of 1/2 in phi2 5.531 * [backup-simplify]: Simplify 1/2 into 1/2 5.531 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 5.531 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.531 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.531 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.531 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.531 * [backup-simplify]: Simplify 0.5 into 0.5 5.531 * [taylor]: Taking taylor expansion of phi2 in phi2 5.531 * [backup-simplify]: Simplify 0 into 0 5.531 * [backup-simplify]: Simplify 1 into 1 5.531 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.532 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.532 * [taylor]: Taking taylor expansion of phi2 in phi2 5.532 * [backup-simplify]: Simplify 0 into 0 5.532 * [backup-simplify]: Simplify 1 into 1 5.532 * [backup-simplify]: Simplify (* 1 1) into 1 5.533 * [backup-simplify]: Simplify (/ 1 1) into 1 5.533 * [backup-simplify]: Simplify (+ 0) into 0 5.533 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.534 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 5.534 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 5.534 * [backup-simplify]: Simplify 0 into 0 5.534 * [backup-simplify]: Simplify (+ 0) into 0 5.535 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 5.535 * [backup-simplify]: Simplify (+ 0 0) into 0 5.535 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 5.536 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.536 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 5.536 * [backup-simplify]: Simplify (- 0) into 0 5.537 * [backup-simplify]: Simplify (+ 0 0) into 0 5.537 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 5.537 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.538 * [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)) 5.539 * [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))) 5.539 * [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 5.539 * [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 5.539 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 5.539 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 5.539 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 5.539 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.539 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.539 * [taylor]: Taking taylor expansion of phi2 in phi1 5.539 * [backup-simplify]: Simplify phi2 into phi2 5.539 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.539 * [taylor]: Taking taylor expansion of phi1 in phi1 5.539 * [backup-simplify]: Simplify 0 into 0 5.539 * [backup-simplify]: Simplify 1 into 1 5.539 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.539 * [taylor]: Taking taylor expansion of 2 in phi1 5.539 * [backup-simplify]: Simplify 2 into 2 5.539 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.539 * [taylor]: Taking taylor expansion of phi2 in phi1 5.539 * [backup-simplify]: Simplify phi2 into phi2 5.539 * [taylor]: Taking taylor expansion of phi1 in phi1 5.539 * [backup-simplify]: Simplify 0 into 0 5.539 * [backup-simplify]: Simplify 1 into 1 5.539 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.539 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.539 * [backup-simplify]: Simplify (* phi2 0) into 0 5.540 * [backup-simplify]: Simplify (* 2 0) into 0 5.540 * [backup-simplify]: Simplify (- 0) into 0 5.540 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.540 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.540 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 5.540 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.540 * [backup-simplify]: Simplify (+ 0 0) into 0 5.541 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.541 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.541 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.541 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.541 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 5.541 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 5.541 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 5.541 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.542 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.542 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.542 * [backup-simplify]: Simplify 0.5 into 0.5 5.542 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.542 * [taylor]: Taking taylor expansion of phi2 in phi1 5.542 * [backup-simplify]: Simplify phi2 into phi2 5.542 * [taylor]: Taking taylor expansion of phi1 in phi1 5.542 * [backup-simplify]: Simplify 0 into 0 5.542 * [backup-simplify]: Simplify 1 into 1 5.542 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.542 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.542 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.542 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.542 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.542 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.542 * [backup-simplify]: Simplify (- 0) into 0 5.542 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.542 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.542 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 5.543 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 5.543 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 5.543 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 5.543 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.543 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.543 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.543 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.543 * [backup-simplify]: Simplify 0.5 into 0.5 5.543 * [taylor]: Taking taylor expansion of phi2 in phi2 5.543 * [backup-simplify]: Simplify 0 into 0 5.543 * [backup-simplify]: Simplify 1 into 1 5.543 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.544 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.544 * [taylor]: Taking taylor expansion of phi2 in phi2 5.544 * [backup-simplify]: Simplify 0 into 0 5.544 * [backup-simplify]: Simplify 1 into 1 5.544 * [backup-simplify]: Simplify (* 1 1) into 1 5.545 * [backup-simplify]: Simplify (/ 1 1) into 1 5.545 * [backup-simplify]: Simplify (+ 0) into 0 5.545 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.546 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 5.546 * [backup-simplify]: Simplify (- 0) into 0 5.546 * [backup-simplify]: Simplify 0 into 0 5.546 * [backup-simplify]: Simplify (* 1 1) into 1 5.546 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.547 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.547 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 5.547 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 5.547 * [backup-simplify]: Simplify (+ 0 0) into 0 5.547 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.548 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 5.548 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 5.549 * [backup-simplify]: Simplify (- 0) into 0 5.549 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 5.550 * [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))) 5.550 * [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 5.550 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.550 * [backup-simplify]: Simplify 1/2 into 1/2 5.550 * [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 5.550 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1 5.550 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1 5.550 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1 5.550 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.550 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.550 * [taylor]: Taking taylor expansion of phi2 in phi1 5.550 * [backup-simplify]: Simplify phi2 into phi2 5.550 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.550 * [taylor]: Taking taylor expansion of phi1 in phi1 5.550 * [backup-simplify]: Simplify 0 into 0 5.550 * [backup-simplify]: Simplify 1 into 1 5.550 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1 5.550 * [taylor]: Taking taylor expansion of 2 in phi1 5.550 * [backup-simplify]: Simplify 2 into 2 5.550 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.550 * [taylor]: Taking taylor expansion of phi2 in phi1 5.550 * [backup-simplify]: Simplify phi2 into phi2 5.550 * [taylor]: Taking taylor expansion of phi1 in phi1 5.550 * [backup-simplify]: Simplify 0 into 0 5.550 * [backup-simplify]: Simplify 1 into 1 5.550 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.550 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.550 * [backup-simplify]: Simplify (* phi2 0) into 0 5.551 * [backup-simplify]: Simplify (* 2 0) into 0 5.551 * [backup-simplify]: Simplify (- 0) into 0 5.551 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.551 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.551 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 5.551 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.552 * [backup-simplify]: Simplify (+ 0 0) into 0 5.552 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.552 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.552 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.552 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.553 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 5.553 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 5.553 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1 5.553 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 5.553 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 5.553 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.553 * [backup-simplify]: Simplify 0.5 into 0.5 5.553 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 5.553 * [taylor]: Taking taylor expansion of phi2 in phi1 5.553 * [backup-simplify]: Simplify phi2 into phi2 5.553 * [taylor]: Taking taylor expansion of phi1 in phi1 5.553 * [backup-simplify]: Simplify 0 into 0 5.553 * [backup-simplify]: Simplify 1 into 1 5.553 * [backup-simplify]: Simplify (+ phi2 0) into phi2 5.553 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.553 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.553 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.553 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.553 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.554 * [backup-simplify]: Simplify (- 0) into 0 5.554 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.554 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.554 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 5.554 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 5.554 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 5.554 * [taylor]: Taking taylor expansion of 1/2 in phi2 5.554 * [backup-simplify]: Simplify 1/2 into 1/2 5.554 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 5.554 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.554 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.554 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.554 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.554 * [backup-simplify]: Simplify 0.5 into 0.5 5.554 * [taylor]: Taking taylor expansion of phi2 in phi2 5.554 * [backup-simplify]: Simplify 0 into 0 5.554 * [backup-simplify]: Simplify 1 into 1 5.555 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.556 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.556 * [taylor]: Taking taylor expansion of phi2 in phi2 5.556 * [backup-simplify]: Simplify 0 into 0 5.556 * [backup-simplify]: Simplify 1 into 1 5.556 * [backup-simplify]: Simplify (* 1 1) into 1 5.556 * [backup-simplify]: Simplify (/ 1 1) into 1 5.556 * [backup-simplify]: Simplify (+ 0) into 0 5.557 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.557 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 5.558 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 5.558 * [backup-simplify]: Simplify 0 into 0 5.558 * [taylor]: Taking taylor expansion of 0 in phi2 5.558 * [backup-simplify]: Simplify 0 into 0 5.558 * [backup-simplify]: Simplify 0 into 0 5.558 * [taylor]: Taking taylor expansion of 0 in phi2 5.558 * [backup-simplify]: Simplify 0 into 0 5.558 * [backup-simplify]: Simplify 0 into 0 5.558 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 5.558 * [backup-simplify]: Simplify (* 1 1) into 1 5.559 * [backup-simplify]: Simplify (+ 0 1) into 1 5.559 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 1) (* 0 0))) into 0 5.560 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 5.560 * [backup-simplify]: Simplify (- 0) into 0 5.560 * [backup-simplify]: Simplify (+ 1 0) into 1 5.561 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 5.561 * [taylor]: Taking taylor expansion of 0 in phi2 5.561 * [backup-simplify]: Simplify 0 into 0 5.561 * [backup-simplify]: Simplify 0 into 0 5.561 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 5.562 * [backup-simplify]: Simplify (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (- (/ 1 phi1) (/ 1 phi2))) into (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) 5.562 * [approximate]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in (lambda1 lambda2 phi1 phi2) around 0 5.562 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in phi2 5.562 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 5.562 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi2 5.562 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.562 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.562 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 5.562 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 5.562 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.562 * [backup-simplify]: Simplify lambda1 into lambda1 5.562 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.562 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 5.562 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.562 * [backup-simplify]: Simplify lambda2 into lambda2 5.562 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.562 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.562 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.562 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.562 * [backup-simplify]: Simplify 0.5 into 0.5 5.562 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.562 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.562 * [taylor]: Taking taylor expansion of phi1 in phi2 5.562 * [backup-simplify]: Simplify phi1 into phi1 5.562 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.562 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.562 * [taylor]: Taking taylor expansion of phi2 in phi2 5.562 * [backup-simplify]: Simplify 0 into 0 5.562 * [backup-simplify]: Simplify 1 into 1 5.563 * [backup-simplify]: Simplify (/ 1 1) into 1 5.563 * [backup-simplify]: Simplify (+ 0 1) into 1 5.563 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.563 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.563 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.563 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 5.563 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 5.563 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.563 * [backup-simplify]: Simplify lambda1 into lambda1 5.563 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.563 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 5.563 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.563 * [backup-simplify]: Simplify lambda2 into lambda2 5.564 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.564 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.564 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.564 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.564 * [backup-simplify]: Simplify 0.5 into 0.5 5.564 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.564 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.564 * [taylor]: Taking taylor expansion of phi1 in phi2 5.564 * [backup-simplify]: Simplify phi1 into phi1 5.564 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.564 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.564 * [taylor]: Taking taylor expansion of phi2 in phi2 5.564 * [backup-simplify]: Simplify 0 into 0 5.564 * [backup-simplify]: Simplify 1 into 1 5.564 * [backup-simplify]: Simplify (/ 1 1) into 1 5.564 * [backup-simplify]: Simplify (+ 0 1) into 1 5.565 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.565 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.565 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi2 5.565 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2 5.565 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.565 * [taylor]: Taking taylor expansion of phi1 in phi2 5.565 * [backup-simplify]: Simplify phi1 into phi1 5.565 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.565 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.565 * [taylor]: Taking taylor expansion of phi2 in phi2 5.565 * [backup-simplify]: Simplify 0 into 0 5.565 * [backup-simplify]: Simplify 1 into 1 5.565 * [backup-simplify]: Simplify (/ 1 1) into 1 5.565 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2 5.565 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.565 * [taylor]: Taking taylor expansion of phi1 in phi2 5.565 * [backup-simplify]: Simplify phi1 into phi1 5.565 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.565 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.565 * [taylor]: Taking taylor expansion of phi2 in phi2 5.565 * [backup-simplify]: Simplify 0 into 0 5.565 * [backup-simplify]: Simplify 1 into 1 5.566 * [backup-simplify]: Simplify (/ 1 1) into 1 5.566 * [backup-simplify]: Simplify (- 1) into -1 5.566 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.566 * [backup-simplify]: Simplify (- 1) into -1 5.567 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.567 * [backup-simplify]: Simplify (* -1 -1) into 1 5.567 * [backup-simplify]: Simplify (+ 0 1) into 1 5.569 * [backup-simplify]: Simplify (sqrt 1) into 1 5.570 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.570 * [backup-simplify]: Simplify (- 0) into 0 5.570 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1) 5.570 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.571 * [backup-simplify]: Simplify (- 0) into 0 5.571 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1) 5.571 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi1)) (* (/ 1 phi1) -1)) into (- (* 2 (/ 1 phi1))) 5.571 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 5.571 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 5.571 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in phi1 5.572 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 5.572 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi1 5.572 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 5.572 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.572 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 5.572 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 5.572 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.572 * [backup-simplify]: Simplify lambda1 into lambda1 5.572 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.572 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 5.572 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.572 * [backup-simplify]: Simplify lambda2 into lambda2 5.572 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.572 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.572 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.572 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.572 * [backup-simplify]: Simplify 0.5 into 0.5 5.572 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.572 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.572 * [taylor]: Taking taylor expansion of phi1 in phi1 5.572 * [backup-simplify]: Simplify 0 into 0 5.572 * [backup-simplify]: Simplify 1 into 1 5.572 * [backup-simplify]: Simplify (/ 1 1) into 1 5.572 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.572 * [taylor]: Taking taylor expansion of phi2 in phi1 5.572 * [backup-simplify]: Simplify phi2 into phi2 5.572 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.573 * [backup-simplify]: Simplify (+ 1 0) into 1 5.573 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.573 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.573 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.573 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 5.573 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 5.573 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.573 * [backup-simplify]: Simplify lambda1 into lambda1 5.573 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.573 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 5.573 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.573 * [backup-simplify]: Simplify lambda2 into lambda2 5.573 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.573 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.573 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.573 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.573 * [backup-simplify]: Simplify 0.5 into 0.5 5.573 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.573 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.573 * [taylor]: Taking taylor expansion of phi1 in phi1 5.573 * [backup-simplify]: Simplify 0 into 0 5.574 * [backup-simplify]: Simplify 1 into 1 5.574 * [backup-simplify]: Simplify (/ 1 1) into 1 5.574 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.574 * [taylor]: Taking taylor expansion of phi2 in phi1 5.574 * [backup-simplify]: Simplify phi2 into phi2 5.574 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.574 * [backup-simplify]: Simplify (+ 1 0) into 1 5.574 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.574 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.575 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi1 5.575 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1 5.575 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.575 * [taylor]: Taking taylor expansion of phi1 in phi1 5.575 * [backup-simplify]: Simplify 0 into 0 5.575 * [backup-simplify]: Simplify 1 into 1 5.575 * [backup-simplify]: Simplify (/ 1 1) into 1 5.575 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.575 * [taylor]: Taking taylor expansion of phi2 in phi1 5.575 * [backup-simplify]: Simplify phi2 into phi2 5.575 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.575 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1 5.575 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.575 * [taylor]: Taking taylor expansion of phi1 in phi1 5.575 * [backup-simplify]: Simplify 0 into 0 5.575 * [backup-simplify]: Simplify 1 into 1 5.575 * [backup-simplify]: Simplify (/ 1 1) into 1 5.575 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.575 * [taylor]: Taking taylor expansion of phi2 in phi1 5.575 * [backup-simplify]: Simplify phi2 into phi2 5.575 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.576 * [backup-simplify]: Simplify (+ 1 0) into 1 5.576 * [backup-simplify]: Simplify (+ 1 0) into 1 5.576 * [backup-simplify]: Simplify (* 1 1) into 1 5.577 * [backup-simplify]: Simplify (+ 0 1) into 1 5.577 * [backup-simplify]: Simplify (sqrt 1) into 1 5.577 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.577 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 5.577 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2)) 5.578 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.578 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 5.578 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2)) 5.578 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi2))) (* (- (/ 1 phi2)) 1)) into (- (* 2 (/ 1 phi2))) 5.578 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.579 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 5.579 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda2 5.579 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 5.579 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.579 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 5.579 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 5.579 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 5.579 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 5.579 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.579 * [backup-simplify]: Simplify lambda1 into lambda1 5.579 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.579 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 5.579 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.579 * [backup-simplify]: Simplify 0 into 0 5.579 * [backup-simplify]: Simplify 1 into 1 5.580 * [backup-simplify]: Simplify (/ 1 1) into 1 5.580 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.580 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.580 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.580 * [backup-simplify]: Simplify 0.5 into 0.5 5.580 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.580 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.580 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.580 * [backup-simplify]: Simplify phi1 into phi1 5.580 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.580 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.580 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.580 * [backup-simplify]: Simplify phi2 into phi2 5.580 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.580 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.580 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.580 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.580 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.580 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 5.580 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 5.580 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 5.580 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.580 * [backup-simplify]: Simplify lambda1 into lambda1 5.580 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.580 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 5.580 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.580 * [backup-simplify]: Simplify 0 into 0 5.581 * [backup-simplify]: Simplify 1 into 1 5.581 * [backup-simplify]: Simplify (/ 1 1) into 1 5.581 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.581 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.581 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.581 * [backup-simplify]: Simplify 0.5 into 0.5 5.581 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.581 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.581 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.581 * [backup-simplify]: Simplify phi1 into phi1 5.581 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.581 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.581 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.581 * [backup-simplify]: Simplify phi2 into phi2 5.581 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.581 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.581 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.581 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.581 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.581 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda2 5.581 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2 5.581 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.581 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.581 * [backup-simplify]: Simplify phi1 into phi1 5.582 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.582 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.582 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.582 * [backup-simplify]: Simplify phi2 into phi2 5.582 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.582 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2 5.582 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.582 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.582 * [backup-simplify]: Simplify phi1 into phi1 5.582 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.582 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.582 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.582 * [backup-simplify]: Simplify phi2 into phi2 5.582 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.582 * [backup-simplify]: Simplify (- 1) into -1 5.582 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.582 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.583 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.583 * [backup-simplify]: Simplify (- 0) into 0 5.583 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.583 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.583 * [backup-simplify]: Simplify (- 1) into -1 5.584 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.584 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.584 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.584 * [backup-simplify]: Simplify (- 0) into 0 5.584 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.584 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.585 * [backup-simplify]: Simplify (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.585 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.585 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.585 * [backup-simplify]: Simplify (+ 0) into 0 5.586 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.586 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.586 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.586 * [backup-simplify]: Simplify (+ 0 0) into 0 5.586 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.587 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.588 * [backup-simplify]: Simplify (- 0) into 0 5.588 * [backup-simplify]: Simplify (+ 0 0) into 0 5.588 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.589 * [backup-simplify]: Simplify (- 0) into 0 5.589 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 5.589 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda1) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 5.589 * [backup-simplify]: Simplify (+ 0) into 0 5.590 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.590 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.590 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.590 * [backup-simplify]: Simplify (+ 0 0) into 0 5.590 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.591 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.591 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.592 * [backup-simplify]: Simplify (- 0) into 0 5.592 * [backup-simplify]: Simplify (+ 0 0) into 0 5.592 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.592 * [backup-simplify]: Simplify (- 0) into 0 5.593 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 5.593 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda1) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 5.594 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.594 * [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))) 5.594 * [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)) 5.594 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 5.594 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 5.595 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.595 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 5.595 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.595 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 5.595 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.595 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.595 * [backup-simplify]: Simplify 0 into 0 5.595 * [backup-simplify]: Simplify 1 into 1 5.595 * [backup-simplify]: Simplify (/ 1 1) into 1 5.595 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.595 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.595 * [backup-simplify]: Simplify lambda2 into lambda2 5.595 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.595 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.595 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.595 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.595 * [backup-simplify]: Simplify 0.5 into 0.5 5.595 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.595 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.595 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.595 * [backup-simplify]: Simplify phi1 into phi1 5.595 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.595 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.595 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.595 * [backup-simplify]: Simplify phi2 into phi2 5.595 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.595 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.596 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.596 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.596 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.596 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.596 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 5.596 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.596 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.596 * [backup-simplify]: Simplify 0 into 0 5.596 * [backup-simplify]: Simplify 1 into 1 5.596 * [backup-simplify]: Simplify (/ 1 1) into 1 5.596 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.596 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.596 * [backup-simplify]: Simplify lambda2 into lambda2 5.596 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.596 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.596 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.596 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.596 * [backup-simplify]: Simplify 0.5 into 0.5 5.596 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.596 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.596 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.596 * [backup-simplify]: Simplify phi1 into phi1 5.596 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.596 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.596 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.596 * [backup-simplify]: Simplify phi2 into phi2 5.596 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.597 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.597 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.597 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.597 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.597 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 5.597 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 5.597 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.597 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.597 * [backup-simplify]: Simplify phi1 into phi1 5.597 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.597 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.597 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.597 * [backup-simplify]: Simplify phi2 into phi2 5.597 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.597 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 5.597 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.597 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.597 * [backup-simplify]: Simplify phi1 into phi1 5.597 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.597 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.597 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.597 * [backup-simplify]: Simplify phi2 into phi2 5.597 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.598 * [backup-simplify]: Simplify (+ 1 0) into 1 5.598 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.598 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.598 * [backup-simplify]: Simplify (- 0) into 0 5.598 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.598 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.599 * [backup-simplify]: Simplify (+ 1 0) into 1 5.599 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.599 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.599 * [backup-simplify]: Simplify (- 0) into 0 5.599 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.599 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.599 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.600 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.600 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.600 * [backup-simplify]: Simplify (+ 0) into 0 5.601 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.601 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.601 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.601 * [backup-simplify]: Simplify (+ 0 0) into 0 5.601 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.602 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.602 * [backup-simplify]: Simplify (- 0) into 0 5.603 * [backup-simplify]: Simplify (+ 0 0) into 0 5.603 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.603 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 5.603 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 5.604 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.604 * [backup-simplify]: Simplify (+ 0) into 0 5.604 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.605 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.605 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.605 * [backup-simplify]: Simplify (+ 0 0) into 0 5.605 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.606 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.606 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.606 * [backup-simplify]: Simplify (- 0) into 0 5.607 * [backup-simplify]: Simplify (+ 0 0) into 0 5.607 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.607 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 5.607 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 5.608 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.608 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.609 * [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))) 5.609 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.609 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 5.609 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 5.609 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.609 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 5.609 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.609 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 5.609 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.609 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.609 * [backup-simplify]: Simplify 0 into 0 5.609 * [backup-simplify]: Simplify 1 into 1 5.610 * [backup-simplify]: Simplify (/ 1 1) into 1 5.610 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.610 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.610 * [backup-simplify]: Simplify lambda2 into lambda2 5.610 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.610 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.610 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.610 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.610 * [backup-simplify]: Simplify 0.5 into 0.5 5.610 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.610 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.610 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.610 * [backup-simplify]: Simplify phi1 into phi1 5.610 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.610 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.610 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.610 * [backup-simplify]: Simplify phi2 into phi2 5.610 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.610 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.610 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.610 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.610 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.610 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.610 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 5.610 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.610 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.610 * [backup-simplify]: Simplify 0 into 0 5.610 * [backup-simplify]: Simplify 1 into 1 5.611 * [backup-simplify]: Simplify (/ 1 1) into 1 5.611 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.611 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.611 * [backup-simplify]: Simplify lambda2 into lambda2 5.611 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.611 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.611 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.611 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.611 * [backup-simplify]: Simplify 0.5 into 0.5 5.611 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.611 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.611 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.611 * [backup-simplify]: Simplify phi1 into phi1 5.611 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.611 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.611 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.611 * [backup-simplify]: Simplify phi2 into phi2 5.611 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.611 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.611 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.611 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.611 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.611 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 5.611 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 5.611 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.611 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.611 * [backup-simplify]: Simplify phi1 into phi1 5.612 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.612 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.612 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.612 * [backup-simplify]: Simplify phi2 into phi2 5.612 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.612 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 5.612 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.612 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.612 * [backup-simplify]: Simplify phi1 into phi1 5.612 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.612 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.612 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.612 * [backup-simplify]: Simplify phi2 into phi2 5.612 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.612 * [backup-simplify]: Simplify (+ 1 0) into 1 5.612 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.612 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.613 * [backup-simplify]: Simplify (- 0) into 0 5.613 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.613 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.613 * [backup-simplify]: Simplify (+ 1 0) into 1 5.613 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.613 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.614 * [backup-simplify]: Simplify (- 0) into 0 5.614 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.614 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.614 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.614 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.614 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.615 * [backup-simplify]: Simplify (+ 0) into 0 5.615 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.615 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.615 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.616 * [backup-simplify]: Simplify (+ 0 0) into 0 5.616 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.616 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.617 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.617 * [backup-simplify]: Simplify (- 0) into 0 5.617 * [backup-simplify]: Simplify (+ 0 0) into 0 5.618 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.618 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 5.618 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 5.618 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.619 * [backup-simplify]: Simplify (+ 0) into 0 5.619 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.619 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.619 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.619 * [backup-simplify]: Simplify (+ 0 0) into 0 5.620 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.620 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.621 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.624 * [backup-simplify]: Simplify (- 0) into 0 5.625 * [backup-simplify]: Simplify (+ 0 0) into 0 5.626 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.626 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 5.626 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 5.627 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.628 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.629 * [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))) 5.629 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.630 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.630 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.630 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.630 * [backup-simplify]: Simplify 0.5 into 0.5 5.630 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.630 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.630 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.630 * [backup-simplify]: Simplify phi1 into phi1 5.630 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.630 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.630 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.630 * [backup-simplify]: Simplify phi2 into phi2 5.630 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.630 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.630 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.630 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.631 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.631 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 5.631 * [taylor]: Taking taylor expansion of -1 in lambda2 5.631 * [backup-simplify]: Simplify -1 into -1 5.631 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 5.631 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.631 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.631 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.631 * [backup-simplify]: Simplify 0.5 into 0.5 5.631 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.631 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.631 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.631 * [backup-simplify]: Simplify phi1 into phi1 5.631 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.631 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.631 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.631 * [backup-simplify]: Simplify phi2 into phi2 5.631 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.631 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.632 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.632 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.632 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.632 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.632 * [backup-simplify]: Simplify 0 into 0 5.632 * [backup-simplify]: Simplify 1 into 1 5.632 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.632 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.633 * [backup-simplify]: Simplify (- 0) into 0 5.633 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.633 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.634 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.634 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.634 * [taylor]: Taking taylor expansion of -1 in phi1 5.634 * [backup-simplify]: Simplify -1 into -1 5.634 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.634 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.634 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.634 * [backup-simplify]: Simplify 0.5 into 0.5 5.634 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.634 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.634 * [taylor]: Taking taylor expansion of phi1 in phi1 5.634 * [backup-simplify]: Simplify 0 into 0 5.634 * [backup-simplify]: Simplify 1 into 1 5.634 * [backup-simplify]: Simplify (/ 1 1) into 1 5.634 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.634 * [taylor]: Taking taylor expansion of phi2 in phi1 5.634 * [backup-simplify]: Simplify phi2 into phi2 5.635 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.635 * [backup-simplify]: Simplify (+ 1 0) into 1 5.635 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.636 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.636 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.636 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.636 * [backup-simplify]: Simplify (- 0) into 0 5.637 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.637 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.637 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.637 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.637 * [backup-simplify]: Simplify 0.5 into 0.5 5.637 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.637 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.637 * [taylor]: Taking taylor expansion of phi1 in phi1 5.637 * [backup-simplify]: Simplify 0 into 0 5.637 * [backup-simplify]: Simplify 1 into 1 5.637 * [backup-simplify]: Simplify (/ 1 1) into 1 5.637 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.637 * [taylor]: Taking taylor expansion of phi2 in phi1 5.637 * [backup-simplify]: Simplify phi2 into phi2 5.637 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.638 * [backup-simplify]: Simplify (+ 1 0) into 1 5.638 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.639 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.640 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.640 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.641 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.641 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.641 * [backup-simplify]: Simplify (+ 0 0) into 0 5.642 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.643 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.644 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.644 * [backup-simplify]: Simplify (- 0) into 0 5.644 * [backup-simplify]: Simplify (+ 0 0) into 0 5.645 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.645 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 5.646 * [backup-simplify]: Simplify (- 0) into 0 5.646 * [backup-simplify]: Simplify (+ 0 0) into 0 5.647 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.648 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.649 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.649 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.649 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.649 * [backup-simplify]: Simplify (+ 0 0) into 0 5.650 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.651 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.652 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.652 * [backup-simplify]: Simplify (- 0) into 0 5.653 * [backup-simplify]: Simplify (+ 0 0) into 0 5.653 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.654 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 5.654 * [backup-simplify]: Simplify (- 0) into 0 5.654 * [backup-simplify]: Simplify (+ 0 0) into 0 5.655 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.656 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.656 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 5.656 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 5.657 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 5.657 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 5.657 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2) 5.658 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) 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)))) 5.660 * [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)))))) 5.660 * [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 5.660 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.660 * [backup-simplify]: Simplify 1/2 into 1/2 5.661 * [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 5.661 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 5.661 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 5.661 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.661 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.661 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.661 * [backup-simplify]: Simplify phi2 into phi2 5.661 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.661 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.661 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 5.661 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.661 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.661 * [backup-simplify]: Simplify phi1 into phi1 5.661 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.661 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.661 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 5.661 * [taylor]: Taking taylor expansion of 2 in lambda2 5.661 * [backup-simplify]: Simplify 2 into 2 5.661 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 5.662 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 5.662 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.662 * [backup-simplify]: Simplify phi2 into phi2 5.662 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.662 * [backup-simplify]: Simplify phi1 into phi1 5.662 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.662 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.662 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.662 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.662 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.662 * [backup-simplify]: Simplify 0.5 into 0.5 5.662 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.662 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.662 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.662 * [backup-simplify]: Simplify phi1 into phi1 5.662 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.662 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.662 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.662 * [backup-simplify]: Simplify phi2 into phi2 5.662 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.662 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.662 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.662 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.663 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.663 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.663 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 5.663 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 5.664 * [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)))) 5.664 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.664 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.665 * [backup-simplify]: Simplify (- 0) into 0 5.665 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.666 * [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))))) 5.667 * [backup-simplify]: Simplify (+ 0) into 0 5.667 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.668 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.668 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.668 * [backup-simplify]: Simplify (+ 0 0) into 0 5.669 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.670 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.670 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.671 * [backup-simplify]: Simplify (- 0) into 0 5.671 * [backup-simplify]: Simplify (+ 0 0) into 0 5.672 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 5.673 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.673 * [taylor]: Taking taylor expansion of 0 in phi1 5.673 * [backup-simplify]: Simplify 0 into 0 5.673 * [backup-simplify]: Simplify (+ 0) into 0 5.674 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.674 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.675 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.675 * [backup-simplify]: Simplify (+ 0 0) into 0 5.676 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.678 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.678 * [backup-simplify]: Simplify (- 0) into 0 5.678 * [backup-simplify]: Simplify (+ 0 0) into 0 5.678 * [taylor]: Taking taylor expansion of 0 in phi1 5.678 * [backup-simplify]: Simplify 0 into 0 5.679 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.679 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.679 * [taylor]: Taking taylor expansion of -1 in phi2 5.679 * [backup-simplify]: Simplify -1 into -1 5.679 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.679 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.679 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.679 * [backup-simplify]: Simplify 0.5 into 0.5 5.679 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.679 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.679 * [taylor]: Taking taylor expansion of phi1 in phi2 5.679 * [backup-simplify]: Simplify phi1 into phi1 5.679 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.679 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.679 * [taylor]: Taking taylor expansion of phi2 in phi2 5.679 * [backup-simplify]: Simplify 0 into 0 5.679 * [backup-simplify]: Simplify 1 into 1 5.680 * [backup-simplify]: Simplify (/ 1 1) into 1 5.680 * [backup-simplify]: Simplify (+ 0 1) into 1 5.681 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.681 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.681 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.681 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.681 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.681 * [backup-simplify]: Simplify 0.5 into 0.5 5.681 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.681 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.681 * [taylor]: Taking taylor expansion of phi1 in phi2 5.681 * [backup-simplify]: Simplify phi1 into phi1 5.681 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.681 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.681 * [taylor]: Taking taylor expansion of phi2 in phi2 5.681 * [backup-simplify]: Simplify 0 into 0 5.681 * [backup-simplify]: Simplify 1 into 1 5.682 * [backup-simplify]: Simplify (/ 1 1) into 1 5.682 * [backup-simplify]: Simplify (+ 0 1) into 1 5.683 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.683 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.684 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.685 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.685 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.685 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.686 * [backup-simplify]: Simplify (+ 0 0) into 0 5.687 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.689 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.690 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.690 * [backup-simplify]: Simplify (- 0) into 0 5.691 * [backup-simplify]: Simplify (+ 0 0) into 0 5.692 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.692 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 5.693 * [backup-simplify]: Simplify (- 0) into 0 5.693 * [backup-simplify]: Simplify (+ 0 0) into 0 5.694 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.696 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.697 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.697 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.697 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.698 * [backup-simplify]: Simplify (+ 0 0) into 0 5.699 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.701 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.701 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.702 * [backup-simplify]: Simplify (- 0) into 0 5.702 * [backup-simplify]: Simplify (+ 0 0) into 0 5.703 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.703 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 5.704 * [backup-simplify]: Simplify (- 0) into 0 5.704 * [backup-simplify]: Simplify (+ 0 0) into 0 5.705 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.706 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0) (+ (* 0 (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.706 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.706 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.707 * [backup-simplify]: Simplify (- 0) into 0 5.707 * [backup-simplify]: Simplify (+ 0 0) into 0 5.707 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.708 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.708 * [backup-simplify]: Simplify (- 0) into 0 5.708 * [backup-simplify]: Simplify (+ 0 0) into 0 5.709 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0 5.709 * [backup-simplify]: Simplify (+ 0 0) into 0 5.711 * [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)))))) 5.711 * [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 5.711 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.711 * [backup-simplify]: Simplify 1/2 into 1/2 5.711 * [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 5.711 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 5.711 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 5.711 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 5.711 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 5.711 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.711 * [backup-simplify]: Simplify 0 into 0 5.711 * [backup-simplify]: Simplify 1 into 1 5.711 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.711 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.711 * [backup-simplify]: Simplify phi1 into phi1 5.711 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.711 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 5.711 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.712 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 5.712 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.712 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 5.712 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 5.712 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.712 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.712 * [backup-simplify]: Simplify phi2 into phi2 5.712 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.712 * [backup-simplify]: Simplify 0 into 0 5.712 * [backup-simplify]: Simplify 1 into 1 5.712 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.713 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 5.713 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.713 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 5.713 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.713 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 5.713 * [taylor]: Taking taylor expansion of 2 in lambda2 5.714 * [backup-simplify]: Simplify 2 into 2 5.714 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 5.714 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 5.714 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.714 * [backup-simplify]: Simplify phi2 into phi2 5.714 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 5.714 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.714 * [backup-simplify]: Simplify 0 into 0 5.714 * [backup-simplify]: Simplify 1 into 1 5.714 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.714 * [backup-simplify]: Simplify phi1 into phi1 5.714 * [backup-simplify]: Simplify (* 0 phi1) into 0 5.714 * [backup-simplify]: Simplify (* phi2 0) into 0 5.714 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 5.715 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 5.715 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.715 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.715 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.715 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.715 * [backup-simplify]: Simplify 0.5 into 0.5 5.715 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.715 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.715 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.715 * [backup-simplify]: Simplify phi1 into phi1 5.715 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.715 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.715 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.715 * [backup-simplify]: Simplify phi2 into phi2 5.715 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.715 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.716 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.716 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.716 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.716 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.716 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 5.717 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 5.717 * [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)))) 5.717 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.718 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.718 * [backup-simplify]: Simplify (- 0) into 0 5.718 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.719 * [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))))) 5.720 * [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)))))) 5.720 * [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 5.720 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.720 * [backup-simplify]: Simplify 1/2 into 1/2 5.720 * [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 5.720 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 5.720 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.720 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.720 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.720 * [taylor]: Taking taylor expansion of phi2 in phi1 5.720 * [backup-simplify]: Simplify phi2 into phi2 5.720 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.720 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.720 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.720 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.720 * [taylor]: Taking taylor expansion of phi1 in phi1 5.720 * [backup-simplify]: Simplify 0 into 0 5.720 * [backup-simplify]: Simplify 1 into 1 5.721 * [backup-simplify]: Simplify (* 1 1) into 1 5.721 * [backup-simplify]: Simplify (/ 1 1) into 1 5.721 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 5.721 * [taylor]: Taking taylor expansion of 2 in phi1 5.721 * [backup-simplify]: Simplify 2 into 2 5.721 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 5.721 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.721 * [taylor]: Taking taylor expansion of phi2 in phi1 5.721 * [backup-simplify]: Simplify phi2 into phi2 5.721 * [taylor]: Taking taylor expansion of phi1 in phi1 5.721 * [backup-simplify]: Simplify 0 into 0 5.721 * [backup-simplify]: Simplify 1 into 1 5.721 * [backup-simplify]: Simplify (* phi2 0) into 0 5.722 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.722 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.722 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.722 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.722 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.722 * [backup-simplify]: Simplify 0.5 into 0.5 5.722 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.722 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.722 * [taylor]: Taking taylor expansion of phi1 in phi1 5.722 * [backup-simplify]: Simplify 0 into 0 5.722 * [backup-simplify]: Simplify 1 into 1 5.723 * [backup-simplify]: Simplify (/ 1 1) into 1 5.723 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.723 * [taylor]: Taking taylor expansion of phi2 in phi1 5.723 * [backup-simplify]: Simplify phi2 into phi2 5.723 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.723 * [backup-simplify]: Simplify (+ 1 0) into 1 5.724 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.724 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.724 * [backup-simplify]: Simplify (+ 0 1) into 1 5.724 * [backup-simplify]: Simplify (+ 1 0) into 1 5.724 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.725 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.725 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.726 * [backup-simplify]: Simplify (+ 0 0) into 0 5.726 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.726 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.726 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.726 * [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)))))))) 5.726 * [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))))))) 5.727 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 5.727 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.727 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.727 * [taylor]: Taking taylor expansion of phi2 in phi2 5.727 * [backup-simplify]: Simplify 0 into 0 5.727 * [backup-simplify]: Simplify 1 into 1 5.727 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.727 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.727 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.727 * [backup-simplify]: Simplify 0.5 into 0.5 5.727 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.727 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.727 * [taylor]: Taking taylor expansion of phi1 in phi2 5.727 * [backup-simplify]: Simplify phi1 into phi1 5.727 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.727 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.727 * [taylor]: Taking taylor expansion of phi2 in phi2 5.727 * [backup-simplify]: Simplify 0 into 0 5.727 * [backup-simplify]: Simplify 1 into 1 5.727 * [backup-simplify]: Simplify (/ 1 1) into 1 5.728 * [backup-simplify]: Simplify (+ 0 1) into 1 5.728 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.728 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.728 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.728 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.729 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.729 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.729 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.729 * [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)))))) 5.729 * [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 5.729 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.729 * [backup-simplify]: Simplify 1/2 into 1/2 5.729 * [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 5.729 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 5.729 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.729 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.729 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.729 * [taylor]: Taking taylor expansion of phi2 in phi1 5.729 * [backup-simplify]: Simplify phi2 into phi2 5.730 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.730 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.730 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.730 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.730 * [taylor]: Taking taylor expansion of phi1 in phi1 5.730 * [backup-simplify]: Simplify 0 into 0 5.730 * [backup-simplify]: Simplify 1 into 1 5.730 * [backup-simplify]: Simplify (* 1 1) into 1 5.730 * [backup-simplify]: Simplify (/ 1 1) into 1 5.730 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 5.730 * [taylor]: Taking taylor expansion of 2 in phi1 5.730 * [backup-simplify]: Simplify 2 into 2 5.730 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 5.730 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.730 * [taylor]: Taking taylor expansion of phi2 in phi1 5.730 * [backup-simplify]: Simplify phi2 into phi2 5.730 * [taylor]: Taking taylor expansion of phi1 in phi1 5.730 * [backup-simplify]: Simplify 0 into 0 5.730 * [backup-simplify]: Simplify 1 into 1 5.730 * [backup-simplify]: Simplify (* phi2 0) into 0 5.731 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.731 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.731 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.731 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.731 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.731 * [backup-simplify]: Simplify 0.5 into 0.5 5.731 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.731 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.731 * [taylor]: Taking taylor expansion of phi1 in phi1 5.731 * [backup-simplify]: Simplify 0 into 0 5.731 * [backup-simplify]: Simplify 1 into 1 5.731 * [backup-simplify]: Simplify (/ 1 1) into 1 5.731 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.731 * [taylor]: Taking taylor expansion of phi2 in phi1 5.731 * [backup-simplify]: Simplify phi2 into phi2 5.731 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.731 * [backup-simplify]: Simplify (+ 1 0) into 1 5.732 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.732 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.732 * [backup-simplify]: Simplify (+ 0 1) into 1 5.732 * [backup-simplify]: Simplify (+ 1 0) into 1 5.733 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.733 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.733 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.734 * [backup-simplify]: Simplify (+ 0 0) into 0 5.734 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.734 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.734 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.734 * [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)))))))) 5.734 * [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))))))) 5.735 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 5.735 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.735 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.735 * [taylor]: Taking taylor expansion of phi2 in phi2 5.735 * [backup-simplify]: Simplify 0 into 0 5.735 * [backup-simplify]: Simplify 1 into 1 5.735 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.735 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.735 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.735 * [backup-simplify]: Simplify 0.5 into 0.5 5.735 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.735 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.735 * [taylor]: Taking taylor expansion of phi1 in phi2 5.735 * [backup-simplify]: Simplify phi1 into phi1 5.735 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.735 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.735 * [taylor]: Taking taylor expansion of phi2 in phi2 5.735 * [backup-simplify]: Simplify 0 into 0 5.735 * [backup-simplify]: Simplify 1 into 1 5.735 * [backup-simplify]: Simplify (/ 1 1) into 1 5.735 * [backup-simplify]: Simplify (+ 0 1) into 1 5.736 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.736 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.736 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.736 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.736 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.737 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.737 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.737 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.738 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.738 * [backup-simplify]: Simplify (+ 0 0) into 0 5.739 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.739 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.740 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.740 * [backup-simplify]: Simplify (- 0) into 0 5.740 * [backup-simplify]: Simplify (+ 0 0) into 0 5.741 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.742 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.742 * [taylor]: Taking taylor expansion of 0 in phi1 5.742 * [backup-simplify]: Simplify 0 into 0 5.742 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.743 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.743 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.743 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.743 * [backup-simplify]: Simplify (+ 0 0) into 0 5.744 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.745 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.745 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.745 * [backup-simplify]: Simplify (- 0) into 0 5.745 * [backup-simplify]: Simplify (+ 0 0) into 0 5.745 * [taylor]: Taking taylor expansion of 0 in phi1 5.745 * [backup-simplify]: Simplify 0 into 0 5.745 * [taylor]: Taking taylor expansion of 0 in phi2 5.746 * [backup-simplify]: Simplify 0 into 0 5.746 * [taylor]: Taking taylor expansion of 0 in phi2 5.746 * [backup-simplify]: Simplify 0 into 0 5.746 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.746 * [taylor]: Taking taylor expansion of 0 in phi2 5.746 * [backup-simplify]: Simplify 0 into 0 5.746 * [taylor]: Taking taylor expansion of 0 in phi2 5.746 * [backup-simplify]: Simplify 0 into 0 5.746 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.746 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.747 * [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))))))) 5.748 * [backup-simplify]: Simplify (hypot (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))) into (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) 5.748 * [approximate]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in (lambda1 lambda2 phi1 phi2) around 0 5.748 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi2 5.748 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 5.748 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi2 5.748 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.748 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.748 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 5.748 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 5.748 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.748 * [backup-simplify]: Simplify lambda2 into lambda2 5.748 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.748 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 5.748 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.748 * [backup-simplify]: Simplify lambda1 into lambda1 5.748 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.748 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.748 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.748 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.748 * [backup-simplify]: Simplify -0.5 into -0.5 5.748 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.748 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.748 * [taylor]: Taking taylor expansion of phi1 in phi2 5.748 * [backup-simplify]: Simplify phi1 into phi1 5.748 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.748 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.748 * [taylor]: Taking taylor expansion of phi2 in phi2 5.748 * [backup-simplify]: Simplify 0 into 0 5.748 * [backup-simplify]: Simplify 1 into 1 5.749 * [backup-simplify]: Simplify (/ 1 1) into 1 5.749 * [backup-simplify]: Simplify (+ 0 1) into 1 5.749 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.749 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.749 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.749 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 5.749 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 5.749 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.749 * [backup-simplify]: Simplify lambda2 into lambda2 5.749 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.750 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 5.750 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.750 * [backup-simplify]: Simplify lambda1 into lambda1 5.750 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.750 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.750 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.750 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.750 * [backup-simplify]: Simplify -0.5 into -0.5 5.750 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.750 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.750 * [taylor]: Taking taylor expansion of phi1 in phi2 5.750 * [backup-simplify]: Simplify phi1 into phi1 5.750 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.750 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.750 * [taylor]: Taking taylor expansion of phi2 in phi2 5.750 * [backup-simplify]: Simplify 0 into 0 5.750 * [backup-simplify]: Simplify 1 into 1 5.750 * [backup-simplify]: Simplify (/ 1 1) into 1 5.750 * [backup-simplify]: Simplify (+ 0 1) into 1 5.751 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.751 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.751 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi2 5.751 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2 5.751 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.751 * [taylor]: Taking taylor expansion of phi2 in phi2 5.751 * [backup-simplify]: Simplify 0 into 0 5.751 * [backup-simplify]: Simplify 1 into 1 5.751 * [backup-simplify]: Simplify (/ 1 1) into 1 5.751 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.751 * [taylor]: Taking taylor expansion of phi1 in phi2 5.751 * [backup-simplify]: Simplify phi1 into phi1 5.751 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.751 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2 5.751 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.751 * [taylor]: Taking taylor expansion of phi2 in phi2 5.751 * [backup-simplify]: Simplify 0 into 0 5.751 * [backup-simplify]: Simplify 1 into 1 5.752 * [backup-simplify]: Simplify (/ 1 1) into 1 5.752 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.752 * [taylor]: Taking taylor expansion of phi1 in phi2 5.752 * [backup-simplify]: Simplify phi1 into phi1 5.752 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.752 * [backup-simplify]: Simplify (+ 1 0) into 1 5.752 * [backup-simplify]: Simplify (+ 1 0) into 1 5.752 * [backup-simplify]: Simplify (* 1 1) into 1 5.753 * [backup-simplify]: Simplify (+ 0 1) into 1 5.753 * [backup-simplify]: Simplify (sqrt 1) into 1 5.753 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.753 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 5.754 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1)) 5.754 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.754 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 5.754 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1)) 5.754 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi1))) (* (- (/ 1 phi1)) 1)) into (- (* 2 (/ 1 phi1))) 5.754 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 5.755 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 5.755 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi1 5.755 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 5.755 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi1 5.755 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 5.755 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.755 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 5.755 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 5.755 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.755 * [backup-simplify]: Simplify lambda2 into lambda2 5.755 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.755 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 5.755 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.755 * [backup-simplify]: Simplify lambda1 into lambda1 5.755 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.755 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.755 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.755 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.755 * [backup-simplify]: Simplify -0.5 into -0.5 5.755 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.755 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.755 * [taylor]: Taking taylor expansion of phi1 in phi1 5.755 * [backup-simplify]: Simplify 0 into 0 5.755 * [backup-simplify]: Simplify 1 into 1 5.756 * [backup-simplify]: Simplify (/ 1 1) into 1 5.756 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.756 * [taylor]: Taking taylor expansion of phi2 in phi1 5.756 * [backup-simplify]: Simplify phi2 into phi2 5.756 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.756 * [backup-simplify]: Simplify (+ 1 0) into 1 5.756 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.757 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.757 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.757 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 5.757 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 5.757 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.757 * [backup-simplify]: Simplify lambda2 into lambda2 5.757 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.757 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 5.757 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.757 * [backup-simplify]: Simplify lambda1 into lambda1 5.757 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.757 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.757 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.757 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.757 * [backup-simplify]: Simplify -0.5 into -0.5 5.757 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.757 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.757 * [taylor]: Taking taylor expansion of phi1 in phi1 5.757 * [backup-simplify]: Simplify 0 into 0 5.757 * [backup-simplify]: Simplify 1 into 1 5.758 * [backup-simplify]: Simplify (/ 1 1) into 1 5.758 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.758 * [taylor]: Taking taylor expansion of phi2 in phi1 5.758 * [backup-simplify]: Simplify phi2 into phi2 5.758 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.758 * [backup-simplify]: Simplify (+ 1 0) into 1 5.759 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.759 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.759 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi1 5.759 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1 5.759 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.759 * [taylor]: Taking taylor expansion of phi2 in phi1 5.759 * [backup-simplify]: Simplify phi2 into phi2 5.759 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.759 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.759 * [taylor]: Taking taylor expansion of phi1 in phi1 5.759 * [backup-simplify]: Simplify 0 into 0 5.759 * [backup-simplify]: Simplify 1 into 1 5.759 * [backup-simplify]: Simplify (/ 1 1) into 1 5.759 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1 5.759 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.760 * [taylor]: Taking taylor expansion of phi2 in phi1 5.760 * [backup-simplify]: Simplify phi2 into phi2 5.760 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.760 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.760 * [taylor]: Taking taylor expansion of phi1 in phi1 5.760 * [backup-simplify]: Simplify 0 into 0 5.760 * [backup-simplify]: Simplify 1 into 1 5.760 * [backup-simplify]: Simplify (/ 1 1) into 1 5.760 * [backup-simplify]: Simplify (- 1) into -1 5.761 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.761 * [backup-simplify]: Simplify (- 1) into -1 5.762 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.762 * [backup-simplify]: Simplify (* -1 -1) into 1 5.762 * [backup-simplify]: Simplify (+ 0 1) into 1 5.767 * [backup-simplify]: Simplify (sqrt 1) into 1 5.769 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.769 * [backup-simplify]: Simplify (- 0) into 0 5.769 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2) 5.770 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.770 * [backup-simplify]: Simplify (- 0) into 0 5.771 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2) 5.771 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi2)) (* (/ 1 phi2) -1)) into (- (* 2 (/ 1 phi2))) 5.771 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.772 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 5.772 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda2 5.772 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 5.772 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda2 5.772 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 5.772 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 5.772 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 5.772 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 5.772 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.772 * [backup-simplify]: Simplify 0 into 0 5.772 * [backup-simplify]: Simplify 1 into 1 5.772 * [backup-simplify]: Simplify (/ 1 1) into 1 5.773 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 5.773 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.773 * [backup-simplify]: Simplify lambda1 into lambda1 5.773 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.773 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.773 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.773 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.773 * [backup-simplify]: Simplify -0.5 into -0.5 5.773 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.773 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.773 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.773 * [backup-simplify]: Simplify phi1 into phi1 5.773 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.773 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.773 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.773 * [backup-simplify]: Simplify phi2 into phi2 5.773 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.773 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.773 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.774 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.774 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.774 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 5.774 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 5.774 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 5.774 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.774 * [backup-simplify]: Simplify 0 into 0 5.774 * [backup-simplify]: Simplify 1 into 1 5.775 * [backup-simplify]: Simplify (/ 1 1) into 1 5.775 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 5.775 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.775 * [backup-simplify]: Simplify lambda1 into lambda1 5.775 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.775 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.775 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.775 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.775 * [backup-simplify]: Simplify -0.5 into -0.5 5.775 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.775 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.775 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.775 * [backup-simplify]: Simplify phi1 into phi1 5.775 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.775 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.775 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.775 * [backup-simplify]: Simplify phi2 into phi2 5.775 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.775 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.775 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.776 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.776 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.776 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda2 5.776 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2 5.776 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.776 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.776 * [backup-simplify]: Simplify phi2 into phi2 5.776 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.776 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.776 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.776 * [backup-simplify]: Simplify phi1 into phi1 5.776 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.776 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2 5.776 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.776 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.776 * [backup-simplify]: Simplify phi2 into phi2 5.776 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.776 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.776 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.776 * [backup-simplify]: Simplify phi1 into phi1 5.776 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.777 * [backup-simplify]: Simplify (+ 1 0) into 1 5.777 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.777 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.778 * [backup-simplify]: Simplify (- 0) into 0 5.778 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.778 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.779 * [backup-simplify]: Simplify (+ 1 0) into 1 5.779 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.779 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.779 * [backup-simplify]: Simplify (- 0) into 0 5.780 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.780 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.780 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.781 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.781 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.781 * [backup-simplify]: Simplify (+ 0) into 0 5.782 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.782 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.782 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.782 * [backup-simplify]: Simplify (+ 0 0) into 0 5.783 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.784 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.785 * [backup-simplify]: Simplify (- 0) into 0 5.785 * [backup-simplify]: Simplify (+ 0 0) into 0 5.786 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.786 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 5.786 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1)) 5.787 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 5.787 * [backup-simplify]: Simplify (+ 0) into 0 5.788 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.788 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.788 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.788 * [backup-simplify]: Simplify (+ 0 0) into 0 5.789 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.790 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.791 * [backup-simplify]: Simplify (- 0) into 0 5.791 * [backup-simplify]: Simplify (+ 0 0) into 0 5.792 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.792 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 5.792 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1)) 5.792 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 5.793 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.794 * [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))) 5.795 * [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)) 5.795 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 5.795 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 5.795 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1 5.795 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 5.795 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.795 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 5.795 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.795 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.795 * [backup-simplify]: Simplify lambda2 into lambda2 5.795 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.795 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.795 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.795 * [backup-simplify]: Simplify 0 into 0 5.795 * [backup-simplify]: Simplify 1 into 1 5.796 * [backup-simplify]: Simplify (/ 1 1) into 1 5.796 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.796 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.796 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.796 * [backup-simplify]: Simplify -0.5 into -0.5 5.796 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.796 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.796 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.796 * [backup-simplify]: Simplify phi1 into phi1 5.796 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.796 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.796 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.796 * [backup-simplify]: Simplify phi2 into phi2 5.796 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.796 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.797 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.797 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.797 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.797 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.797 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 5.797 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.797 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.797 * [backup-simplify]: Simplify lambda2 into lambda2 5.797 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.797 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.797 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.797 * [backup-simplify]: Simplify 0 into 0 5.797 * [backup-simplify]: Simplify 1 into 1 5.798 * [backup-simplify]: Simplify (/ 1 1) into 1 5.798 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.798 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.798 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.798 * [backup-simplify]: Simplify -0.5 into -0.5 5.798 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.798 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.798 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.798 * [backup-simplify]: Simplify phi1 into phi1 5.798 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.798 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.798 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.798 * [backup-simplify]: Simplify phi2 into phi2 5.798 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.798 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.798 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.798 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.799 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.799 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 5.799 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 5.799 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.799 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.799 * [backup-simplify]: Simplify phi2 into phi2 5.799 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.799 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.799 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.799 * [backup-simplify]: Simplify phi1 into phi1 5.799 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.799 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 5.799 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.799 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.799 * [backup-simplify]: Simplify phi2 into phi2 5.799 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.799 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.799 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.799 * [backup-simplify]: Simplify phi1 into phi1 5.799 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.800 * [backup-simplify]: Simplify (- 1) into -1 5.800 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.800 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.800 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.801 * [backup-simplify]: Simplify (- 0) into 0 5.801 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.801 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.801 * [backup-simplify]: Simplify (- 1) into -1 5.801 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.801 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.802 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.802 * [backup-simplify]: Simplify (- 0) into 0 5.802 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.802 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.802 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.803 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.803 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.803 * [backup-simplify]: Simplify (+ 0) into 0 5.803 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.803 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.804 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.804 * [backup-simplify]: Simplify (+ 0 0) into 0 5.804 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.805 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.805 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.805 * [backup-simplify]: Simplify (- 0) into 0 5.805 * [backup-simplify]: Simplify (+ 0 0) into 0 5.806 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.806 * [backup-simplify]: Simplify (- 0) into 0 5.806 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 5.807 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 5.807 * [backup-simplify]: Simplify (+ 0) into 0 5.807 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.807 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.808 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.808 * [backup-simplify]: Simplify (+ 0 0) into 0 5.808 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.809 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.809 * [backup-simplify]: Simplify (- 0) into 0 5.809 * [backup-simplify]: Simplify (+ 0 0) into 0 5.810 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.810 * [backup-simplify]: Simplify (- 0) into 0 5.810 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 5.811 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 5.811 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.812 * [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))) 5.812 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.812 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 5.812 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 5.812 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1 5.812 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 5.812 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.812 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 5.812 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.812 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.812 * [backup-simplify]: Simplify lambda2 into lambda2 5.812 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.812 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.812 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.812 * [backup-simplify]: Simplify 0 into 0 5.812 * [backup-simplify]: Simplify 1 into 1 5.813 * [backup-simplify]: Simplify (/ 1 1) into 1 5.813 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.813 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.813 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.813 * [backup-simplify]: Simplify -0.5 into -0.5 5.813 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.813 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.813 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.813 * [backup-simplify]: Simplify phi1 into phi1 5.813 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.813 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.813 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.813 * [backup-simplify]: Simplify phi2 into phi2 5.813 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.813 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.813 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.813 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.813 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.813 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 5.813 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 5.813 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.813 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.813 * [backup-simplify]: Simplify lambda2 into lambda2 5.813 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.813 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.813 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.814 * [backup-simplify]: Simplify 0 into 0 5.814 * [backup-simplify]: Simplify 1 into 1 5.814 * [backup-simplify]: Simplify (/ 1 1) into 1 5.814 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.814 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.814 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.814 * [backup-simplify]: Simplify -0.5 into -0.5 5.814 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.814 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.814 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.814 * [backup-simplify]: Simplify phi1 into phi1 5.814 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.814 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.814 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.814 * [backup-simplify]: Simplify phi2 into phi2 5.814 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.814 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.814 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.814 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.814 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.814 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 5.814 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 5.814 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.815 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.815 * [backup-simplify]: Simplify phi2 into phi2 5.815 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.815 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.815 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.815 * [backup-simplify]: Simplify phi1 into phi1 5.815 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.815 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 5.815 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.815 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.815 * [backup-simplify]: Simplify phi2 into phi2 5.815 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.815 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.815 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.815 * [backup-simplify]: Simplify phi1 into phi1 5.815 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.815 * [backup-simplify]: Simplify (- 1) into -1 5.815 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.815 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.816 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.816 * [backup-simplify]: Simplify (- 0) into 0 5.816 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.816 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.816 * [backup-simplify]: Simplify (- 1) into -1 5.817 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.817 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.817 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.817 * [backup-simplify]: Simplify (- 0) into 0 5.817 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.817 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.818 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.818 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.818 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.818 * [backup-simplify]: Simplify (+ 0) into 0 5.819 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.819 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.819 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.819 * [backup-simplify]: Simplify (+ 0 0) into 0 5.819 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.820 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.820 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.821 * [backup-simplify]: Simplify (- 0) into 0 5.821 * [backup-simplify]: Simplify (+ 0 0) into 0 5.821 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.821 * [backup-simplify]: Simplify (- 0) into 0 5.822 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 5.822 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 5.822 * [backup-simplify]: Simplify (+ 0) into 0 5.823 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.823 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.823 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.823 * [backup-simplify]: Simplify (+ 0 0) into 0 5.823 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.824 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.824 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.824 * [backup-simplify]: Simplify (- 0) into 0 5.825 * [backup-simplify]: Simplify (+ 0 0) into 0 5.825 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.825 * [backup-simplify]: Simplify (- 0) into 0 5.825 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 5.826 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 5.826 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.827 * [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))) 5.827 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.827 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.827 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.827 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.828 * [backup-simplify]: Simplify -0.5 into -0.5 5.828 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.828 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.828 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.828 * [backup-simplify]: Simplify phi1 into phi1 5.828 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.828 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.828 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.828 * [backup-simplify]: Simplify phi2 into phi2 5.828 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.828 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.828 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.828 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.828 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.828 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 5.828 * [taylor]: Taking taylor expansion of -1 in lambda2 5.828 * [backup-simplify]: Simplify -1 into -1 5.828 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 5.828 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.828 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.828 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.828 * [backup-simplify]: Simplify -0.5 into -0.5 5.828 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.828 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.828 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.828 * [backup-simplify]: Simplify phi1 into phi1 5.828 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.828 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.829 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.829 * [backup-simplify]: Simplify phi2 into phi2 5.829 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.829 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.829 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.829 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.829 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.829 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.829 * [backup-simplify]: Simplify 0 into 0 5.829 * [backup-simplify]: Simplify 1 into 1 5.829 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.829 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.829 * [backup-simplify]: Simplify (- 0) into 0 5.830 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.830 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.830 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.830 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.830 * [taylor]: Taking taylor expansion of -1 in phi1 5.830 * [backup-simplify]: Simplify -1 into -1 5.830 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.830 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.830 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.830 * [backup-simplify]: Simplify -0.5 into -0.5 5.830 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.830 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.830 * [taylor]: Taking taylor expansion of phi1 in phi1 5.830 * [backup-simplify]: Simplify 0 into 0 5.830 * [backup-simplify]: Simplify 1 into 1 5.830 * [backup-simplify]: Simplify (/ 1 1) into 1 5.830 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.830 * [taylor]: Taking taylor expansion of phi2 in phi1 5.830 * [backup-simplify]: Simplify phi2 into phi2 5.830 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.831 * [backup-simplify]: Simplify (+ 1 0) into 1 5.831 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.831 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.831 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.831 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.832 * [backup-simplify]: Simplify (- 0) into 0 5.832 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.832 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.832 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.832 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.832 * [backup-simplify]: Simplify -0.5 into -0.5 5.832 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.832 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.832 * [taylor]: Taking taylor expansion of phi1 in phi1 5.832 * [backup-simplify]: Simplify 0 into 0 5.832 * [backup-simplify]: Simplify 1 into 1 5.832 * [backup-simplify]: Simplify (/ 1 1) into 1 5.832 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.832 * [taylor]: Taking taylor expansion of phi2 in phi1 5.832 * [backup-simplify]: Simplify phi2 into phi2 5.832 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.833 * [backup-simplify]: Simplify (+ 1 0) into 1 5.833 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.833 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.834 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.834 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.834 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.834 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.835 * [backup-simplify]: Simplify (+ 0 0) into 0 5.835 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.836 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.836 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.837 * [backup-simplify]: Simplify (- 0) into 0 5.837 * [backup-simplify]: Simplify (+ 0 0) into 0 5.837 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 5.838 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.839 * [backup-simplify]: Simplify (- 0) into 0 5.839 * [backup-simplify]: Simplify (+ 0 0) into 0 5.840 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.841 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.842 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.842 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.842 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.843 * [backup-simplify]: Simplify (+ 0 0) into 0 5.844 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.844 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.845 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.846 * [backup-simplify]: Simplify (- 0) into 0 5.846 * [backup-simplify]: Simplify (+ 0 0) into 0 5.846 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 5.847 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.848 * [backup-simplify]: Simplify (- 0) into 0 5.848 * [backup-simplify]: Simplify (+ 0 0) into 0 5.849 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.850 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.850 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 5.850 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 5.850 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 5.851 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 5.851 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2) 5.852 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) 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)))) 5.853 * [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)))))) 5.853 * [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 5.853 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.853 * [backup-simplify]: Simplify 1/2 into 1/2 5.853 * [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 5.853 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 5.853 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 5.853 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.853 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.853 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.853 * [backup-simplify]: Simplify phi2 into phi2 5.853 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.854 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.854 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 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 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.854 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.854 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* 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 (/ 1 (* phi2 phi1)) in lambda2 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 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 5.854 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.854 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.854 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.854 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.854 * [backup-simplify]: Simplify -0.5 into -0.5 5.854 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.854 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.854 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.854 * [backup-simplify]: Simplify phi1 into phi1 5.854 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.854 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.854 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.854 * [backup-simplify]: Simplify phi2 into phi2 5.854 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.854 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.854 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.854 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.855 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.855 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.855 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 5.855 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 5.855 * [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)))) 5.855 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.855 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.856 * [backup-simplify]: Simplify (- 0) into 0 5.856 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.856 * [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))))) 5.857 * [backup-simplify]: Simplify (+ 0) into 0 5.857 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.857 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.857 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.857 * [backup-simplify]: Simplify (+ 0 0) into 0 5.858 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.858 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.859 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.859 * [backup-simplify]: Simplify (- 0) into 0 5.859 * [backup-simplify]: Simplify (+ 0 0) into 0 5.860 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 5.860 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.860 * [taylor]: Taking taylor expansion of 0 in phi1 5.860 * [backup-simplify]: Simplify 0 into 0 5.861 * [backup-simplify]: Simplify (+ 0) into 0 5.861 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.861 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.861 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.861 * [backup-simplify]: Simplify (+ 0 0) into 0 5.862 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.863 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.863 * [backup-simplify]: Simplify (- 0) into 0 5.863 * [backup-simplify]: Simplify (+ 0 0) into 0 5.863 * [taylor]: Taking taylor expansion of 0 in phi1 5.863 * [backup-simplify]: Simplify 0 into 0 5.863 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.863 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.863 * [taylor]: Taking taylor expansion of -1 in phi2 5.863 * [backup-simplify]: Simplify -1 into -1 5.863 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.863 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.863 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.863 * [backup-simplify]: Simplify -0.5 into -0.5 5.863 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.864 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.864 * [taylor]: Taking taylor expansion of phi1 in phi2 5.864 * [backup-simplify]: Simplify phi1 into phi1 5.864 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.864 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.864 * [taylor]: Taking taylor expansion of phi2 in phi2 5.864 * [backup-simplify]: Simplify 0 into 0 5.864 * [backup-simplify]: Simplify 1 into 1 5.864 * [backup-simplify]: Simplify (/ 1 1) into 1 5.864 * [backup-simplify]: Simplify (+ 0 1) into 1 5.864 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.865 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.865 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.865 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.865 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.865 * [backup-simplify]: Simplify -0.5 into -0.5 5.865 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.865 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.865 * [taylor]: Taking taylor expansion of phi1 in phi2 5.865 * [backup-simplify]: Simplify phi1 into phi1 5.865 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.865 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.865 * [taylor]: Taking taylor expansion of phi2 in phi2 5.865 * [backup-simplify]: Simplify 0 into 0 5.865 * [backup-simplify]: Simplify 1 into 1 5.865 * [backup-simplify]: Simplify (/ 1 1) into 1 5.865 * [backup-simplify]: Simplify (+ 0 1) into 1 5.866 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.866 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.867 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.867 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.867 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.867 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.868 * [backup-simplify]: Simplify (+ 0 0) into 0 5.869 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.870 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.870 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.870 * [backup-simplify]: Simplify (- 0) into 0 5.871 * [backup-simplify]: Simplify (+ 0 0) into 0 5.871 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 5.871 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.871 * [backup-simplify]: Simplify (- 0) into 0 5.872 * [backup-simplify]: Simplify (+ 0 0) into 0 5.872 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.873 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.874 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.874 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.874 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.875 * [backup-simplify]: Simplify (+ 0 0) into 0 5.876 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.877 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.878 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.878 * [backup-simplify]: Simplify (- 0) into 0 5.879 * [backup-simplify]: Simplify (+ 0 0) into 0 5.879 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 5.879 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.880 * [backup-simplify]: Simplify (- 0) into 0 5.880 * [backup-simplify]: Simplify (+ 0 0) into 0 5.881 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.881 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 0) (+ (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0 5.881 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.881 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.882 * [backup-simplify]: Simplify (- 0) into 0 5.882 * [backup-simplify]: Simplify (+ 0 0) into 0 5.882 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.882 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.882 * [backup-simplify]: Simplify (- 0) into 0 5.883 * [backup-simplify]: Simplify (+ 0 0) into 0 5.883 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0 5.883 * [backup-simplify]: Simplify (+ 0 0) into 0 5.884 * [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)))))) 5.884 * [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 5.884 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.884 * [backup-simplify]: Simplify 1/2 into 1/2 5.884 * [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 5.884 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 5.884 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 5.884 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 5.884 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 5.885 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.885 * [backup-simplify]: Simplify 0 into 0 5.885 * [backup-simplify]: Simplify 1 into 1 5.885 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.885 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.885 * [backup-simplify]: Simplify phi1 into phi1 5.885 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.885 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 5.885 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.890 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 5.890 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.890 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 5.891 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 5.891 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.891 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.891 * [backup-simplify]: Simplify phi2 into phi2 5.891 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.891 * [backup-simplify]: Simplify 0 into 0 5.891 * [backup-simplify]: Simplify 1 into 1 5.891 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.891 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 5.891 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.892 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 5.892 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.892 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 5.892 * [taylor]: Taking taylor expansion of 2 in lambda2 5.892 * [backup-simplify]: Simplify 2 into 2 5.892 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 5.892 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 5.892 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.892 * [backup-simplify]: Simplify phi2 into phi2 5.892 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 5.892 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.892 * [backup-simplify]: Simplify 0 into 0 5.892 * [backup-simplify]: Simplify 1 into 1 5.892 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.892 * [backup-simplify]: Simplify phi1 into phi1 5.892 * [backup-simplify]: Simplify (* 0 phi1) into 0 5.892 * [backup-simplify]: Simplify (* phi2 0) into 0 5.893 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 5.893 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 5.893 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 5.893 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.893 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.893 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.893 * [backup-simplify]: Simplify -0.5 into -0.5 5.893 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.893 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.894 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.894 * [backup-simplify]: Simplify phi1 into phi1 5.894 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.894 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.894 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.894 * [backup-simplify]: Simplify phi2 into phi2 5.894 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.894 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.894 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.894 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.894 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.895 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.895 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 5.895 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 5.895 * [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)))) 5.896 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.896 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.896 * [backup-simplify]: Simplify (- 0) into 0 5.896 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.897 * [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))))) 5.898 * [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)))))) 5.898 * [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 5.898 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.898 * [backup-simplify]: Simplify 1/2 into 1/2 5.898 * [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 5.898 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 5.898 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.898 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.898 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.898 * [taylor]: Taking taylor expansion of phi2 in phi1 5.898 * [backup-simplify]: Simplify phi2 into phi2 5.898 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.898 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.899 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.899 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.899 * [taylor]: Taking taylor expansion of phi1 in phi1 5.899 * [backup-simplify]: Simplify 0 into 0 5.899 * [backup-simplify]: Simplify 1 into 1 5.899 * [backup-simplify]: Simplify (* 1 1) into 1 5.900 * [backup-simplify]: Simplify (/ 1 1) into 1 5.900 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 5.900 * [taylor]: Taking taylor expansion of 2 in phi1 5.900 * [backup-simplify]: Simplify 2 into 2 5.900 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 5.900 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.900 * [taylor]: Taking taylor expansion of phi2 in phi1 5.900 * [backup-simplify]: Simplify phi2 into phi2 5.900 * [taylor]: Taking taylor expansion of phi1 in phi1 5.900 * [backup-simplify]: Simplify 0 into 0 5.900 * [backup-simplify]: Simplify 1 into 1 5.900 * [backup-simplify]: Simplify (* phi2 0) into 0 5.900 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.900 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.900 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.900 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.900 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.900 * [backup-simplify]: Simplify -0.5 into -0.5 5.900 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.900 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.900 * [taylor]: Taking taylor expansion of phi1 in phi1 5.900 * [backup-simplify]: Simplify 0 into 0 5.900 * [backup-simplify]: Simplify 1 into 1 5.901 * [backup-simplify]: Simplify (/ 1 1) into 1 5.901 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.901 * [taylor]: Taking taylor expansion of phi2 in phi1 5.901 * [backup-simplify]: Simplify phi2 into phi2 5.901 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.901 * [backup-simplify]: Simplify (+ 1 0) into 1 5.901 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.901 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.902 * [backup-simplify]: Simplify (+ 0 1) into 1 5.902 * [backup-simplify]: Simplify (+ 1 0) into 1 5.902 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.902 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.903 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.903 * [backup-simplify]: Simplify (+ 0 0) into 0 5.903 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.903 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.903 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.904 * [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)))))))) 5.904 * [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))))))) 5.904 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 5.904 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.904 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.904 * [taylor]: Taking taylor expansion of phi2 in phi2 5.904 * [backup-simplify]: Simplify 0 into 0 5.904 * [backup-simplify]: Simplify 1 into 1 5.904 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.904 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.904 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.904 * [backup-simplify]: Simplify -0.5 into -0.5 5.904 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.904 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.904 * [taylor]: Taking taylor expansion of phi1 in phi2 5.904 * [backup-simplify]: Simplify phi1 into phi1 5.904 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.904 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.904 * [taylor]: Taking taylor expansion of phi2 in phi2 5.904 * [backup-simplify]: Simplify 0 into 0 5.904 * [backup-simplify]: Simplify 1 into 1 5.905 * [backup-simplify]: Simplify (/ 1 1) into 1 5.905 * [backup-simplify]: Simplify (+ 0 1) into 1 5.905 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.905 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.905 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.906 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.906 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.906 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.906 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.907 * [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)))))) 5.907 * [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 5.907 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.907 * [backup-simplify]: Simplify 1/2 into 1/2 5.907 * [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 5.907 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1 5.907 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.907 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.907 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.907 * [taylor]: Taking taylor expansion of phi2 in phi1 5.907 * [backup-simplify]: Simplify phi2 into phi2 5.907 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.907 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.907 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.907 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.907 * [taylor]: Taking taylor expansion of phi1 in phi1 5.907 * [backup-simplify]: Simplify 0 into 0 5.907 * [backup-simplify]: Simplify 1 into 1 5.907 * [backup-simplify]: Simplify (* 1 1) into 1 5.908 * [backup-simplify]: Simplify (/ 1 1) into 1 5.908 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1 5.908 * [taylor]: Taking taylor expansion of 2 in phi1 5.908 * [backup-simplify]: Simplify 2 into 2 5.908 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1 5.908 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1 5.908 * [taylor]: Taking taylor expansion of phi2 in phi1 5.908 * [backup-simplify]: Simplify phi2 into phi2 5.908 * [taylor]: Taking taylor expansion of phi1 in phi1 5.908 * [backup-simplify]: Simplify 0 into 0 5.908 * [backup-simplify]: Simplify 1 into 1 5.908 * [backup-simplify]: Simplify (* phi2 0) into 0 5.908 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2 5.908 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.908 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.908 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.908 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.908 * [backup-simplify]: Simplify -0.5 into -0.5 5.908 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.908 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.908 * [taylor]: Taking taylor expansion of phi1 in phi1 5.908 * [backup-simplify]: Simplify 0 into 0 5.908 * [backup-simplify]: Simplify 1 into 1 5.909 * [backup-simplify]: Simplify (/ 1 1) into 1 5.909 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.909 * [taylor]: Taking taylor expansion of phi2 in phi1 5.909 * [backup-simplify]: Simplify phi2 into phi2 5.909 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.909 * [backup-simplify]: Simplify (+ 1 0) into 1 5.909 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.909 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.910 * [backup-simplify]: Simplify (+ 0 1) into 1 5.910 * [backup-simplify]: Simplify (+ 1 0) into 1 5.910 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.910 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.911 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.911 * [backup-simplify]: Simplify (+ 0 0) into 0 5.911 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.911 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.911 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.912 * [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)))))))) 5.912 * [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))))))) 5.912 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 5.912 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.912 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.912 * [taylor]: Taking taylor expansion of phi2 in phi2 5.912 * [backup-simplify]: Simplify 0 into 0 5.912 * [backup-simplify]: Simplify 1 into 1 5.912 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.912 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.912 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.912 * [backup-simplify]: Simplify -0.5 into -0.5 5.912 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.912 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.912 * [taylor]: Taking taylor expansion of phi1 in phi2 5.913 * [backup-simplify]: Simplify phi1 into phi1 5.913 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.913 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.913 * [taylor]: Taking taylor expansion of phi2 in phi2 5.913 * [backup-simplify]: Simplify 0 into 0 5.913 * [backup-simplify]: Simplify 1 into 1 5.913 * [backup-simplify]: Simplify (/ 1 1) into 1 5.913 * [backup-simplify]: Simplify (+ 0 1) into 1 5.914 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.914 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.914 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.914 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.914 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.915 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.915 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.915 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.916 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.916 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.916 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.916 * [backup-simplify]: Simplify (+ 0 0) into 0 5.917 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.918 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.918 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.918 * [backup-simplify]: Simplify (- 0) into 0 5.919 * [backup-simplify]: Simplify (+ 0 0) into 0 5.920 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.920 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.920 * [taylor]: Taking taylor expansion of 0 in phi1 5.920 * [backup-simplify]: Simplify 0 into 0 5.921 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.921 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.921 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.922 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.922 * [backup-simplify]: Simplify (+ 0 0) into 0 5.922 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.923 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.923 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.924 * [backup-simplify]: Simplify (- 0) into 0 5.924 * [backup-simplify]: Simplify (+ 0 0) into 0 5.924 * [taylor]: Taking taylor expansion of 0 in phi1 5.924 * [backup-simplify]: Simplify 0 into 0 5.924 * [taylor]: Taking taylor expansion of 0 in phi2 5.924 * [backup-simplify]: Simplify 0 into 0 5.924 * [taylor]: Taking taylor expansion of 0 in phi2 5.924 * [backup-simplify]: Simplify 0 into 0 5.924 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.924 * [taylor]: Taking taylor expansion of 0 in phi2 5.924 * [backup-simplify]: Simplify 0 into 0 5.924 * [taylor]: Taking taylor expansion of 0 in phi2 5.924 * [backup-simplify]: Simplify 0 into 0 5.925 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.925 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.926 * [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)))))) 5.926 * * * [progress]: simplifying candidates 5.927 * [simplify]: Simplifying: (expm1 (cos (/ (+ phi1 phi2) 2.0))) (log1p (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))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (expm1 (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (log1p (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (+ (log (- lambda1 lambda2)) (log (cos (/ (+ phi1 phi2) 2.0)))) (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (exp (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (* (- lambda1 lambda2) (- lambda1 lambda2)) (- lambda1 lambda2)) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0)))) (* (cbrt (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (cbrt (* (- 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)))) (sqrt (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (sqrt (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (sqrt (- lambda1 lambda2)) (sqrt (cos (/ (+ phi1 phi2) 2.0)))) (* (sqrt (- lambda1 lambda2)) (sqrt (cos (/ (+ phi1 phi2) 2.0)))) (* (- lambda1 lambda2) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))) (* (- lambda1 lambda2) (sqrt (cos (/ (+ phi1 phi2) 2.0)))) (* (- lambda1 lambda2) 1) (* (cbrt (- lambda1 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (sqrt (- lambda1 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (sqrt lambda1) (sqrt 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 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (expm1 (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (log1p (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R) (+ (log (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (log R)) (log (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (exp (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (* (* (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (* (* R R) R)) (* (cbrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (cbrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R))) (cbrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (* (* (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (sqrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (sqrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (sqrt R)) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (sqrt R)) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) (* (cbrt R) (cbrt R))) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) (sqrt R)) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) 1) (* (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) R) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) R) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R) (expm1 (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (log1p (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))) (log (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (exp (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (* (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)))) (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (* (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- lambda1 lambda2) (- (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (- (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 0 (- (+ (/ (* phi2 (* lambda2 (* R phi1))) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 (* phi1 R)) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (* (cos (* 0.5 (+ phi2 phi1))) R))))) (+ (/ (* phi2 (* R phi1)) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (+ (/ (* phi2 (* lambda2 (* phi1 R))) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (* lambda2 (* (cos (* 0.5 (+ phi2 phi1))) R)))) (- phi2 phi1) (- (+ (/ (* 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))))))) (+ (/ (* 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)))))) 5.930 * * [simplify]: Extracting # 0 : cost 0 5.930 * * [simplify]: Extracting # 1 : cost 0 5.931 * * [simplify]: Extracting # 2 : cost 0 5.931 * * [simplify]: Extracting # 3 : cost 0 5.931 * * [simplify]: Extracting # 4 : cost 0 5.931 * * [simplify]: Extracting # 5 : cost 0 5.932 * * [simplify]: Extracting # 6 : cost 0 5.932 * * [simplify]: Extracting # 7 : cost 0 5.932 * * [simplify]: Extracting # 8 : cost 0 5.933 * * [simplify]: Extracting # 9 : cost 0 5.933 * * [simplify]: Extracting # 10 : cost 0 5.933 * * [simplify]: Extracting # 11 : cost 0 5.934 * * [simplify]: iteration 0 : 139 enodes (cost 1279 ) 5.980 * * [simplify]: Extracting # 0 : cost 0 5.980 * * [simplify]: Extracting # 1 : cost 0 5.980 * * [simplify]: Extracting # 2 : cost 0 5.981 * * [simplify]: Extracting # 3 : cost 0 5.981 * * [simplify]: Extracting # 4 : cost 0 5.981 * * [simplify]: iteration 1 : 327 enodes (cost 1271 ) 6.114 * * [simplify]: Extracting # 0 : cost 0 6.116 * * [simplify]: Extracting # 1 : cost 0 6.117 * * [simplify]: Extracting # 2 : cost 0 6.118 * * [simplify]: Extracting # 3 : cost 0 6.119 * * [simplify]: Extracting # 4 : cost 0 6.120 * * [simplify]: Extracting # 5 : cost 0 6.121 * * [simplify]: iteration 2 : 960 enodes (cost 1077 ) 6.870 * * [simplify]: Extracting # 0 : cost 0 6.878 * * [simplify]: Extracting # 1 : cost 0 6.884 * * [simplify]: Extracting # 2 : cost 0 6.889 * * [simplify]: Extracting # 3 : cost 0 6.893 * * [simplify]: Extracting # 4 : cost 0 6.900 * * [simplify]: iteration 3 : 3194 enodes (cost 1060 ) 8.428 * * [simplify]: Extracting # 0 : cost 0 8.434 * * [simplify]: Extracting # 1 : cost 0 8.439 * * [simplify]: Extracting # 2 : cost 0 8.445 * * [simplify]: Extracting # 3 : cost 0 8.450 * * [simplify]: Extracting # 4 : cost 0 8.459 * * [simplify]: iteration done: 5000 enodes (cost 1059 ) 8.460 * [simplify]: Simplified to: (expm1 (cos (/ (+ phi1 phi2) 2.0))) (log1p (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))) (expm1 (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (log1p (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (exp (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) 3) (* (cbrt (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (cbrt (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) 3) (sqrt (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (sqrt (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (sqrt (- lambda1 lambda2)) (sqrt (cos (/ (+ phi1 phi2) 2.0)))) (* (sqrt (- lambda1 lambda2)) (sqrt (cos (/ (+ phi1 phi2) 2.0)))) (* (- lambda1 lambda2) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))) (* (- lambda1 lambda2) (sqrt (cos (/ (+ phi1 phi2) 2.0)))) (- lambda1 lambda2) (* (cbrt (- lambda1 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (sqrt (- lambda1 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (sqrt lambda1) (sqrt 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 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (expm1 (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (log1p (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R) (log (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (log (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (exp (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (pow (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R) 3) (* (cbrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (cbrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R))) (cbrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (pow (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R) 3) (sqrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (sqrt (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R)) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (sqrt R)) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (sqrt R)) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) (* (cbrt R) (cbrt R))) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) (sqrt R)) (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) (* (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) R) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) R) (* (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) R) (expm1 (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (log1p (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (fma (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- phi1 phi2) (- phi1 phi2))) (log (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (exp (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (* (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)))) (cbrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (pow (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2)) 3) (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (sqrt (hypot (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- phi1 phi2))) (- 1 (* phi1 (fma phi1 0.125 (* 0.25 phi2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- lambda1 lambda2) (* (cos (* 0.5 (+ phi2 phi1))) (- lambda1 lambda2)) (* (cos (* 0.5 (+ phi2 phi1))) (- lambda1 lambda2)) 0 (- (fma (/ phi2 (cos (* 0.5 (+ phi2 phi1)))) (* (+ (/ lambda2 lambda1) 1) (/ (* R phi1) lambda1)) (* lambda2 (* (cos (* 0.5 (+ phi2 phi1))) R)))) (fma (/ phi2 (cos (* 0.5 (+ phi2 phi1)))) (* (+ (/ lambda2 lambda1) 1) (/ (* R phi1) lambda1)) (* lambda2 (* (cos (* 0.5 (+ phi2 phi1))) R))) (- phi2 phi1) (- (fma (/ phi2 (cos (* 0.5 (+ phi2 phi1)))) (* (+ (/ lambda2 lambda1) 1) (/ phi1 lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) (fma (/ phi2 (cos (* 0.5 (+ phi2 phi1)))) (* (+ (/ lambda2 lambda1) 1) (/ phi1 lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 8.461 * * * [progress]: adding candidates to table 8.841 * * [progress]: iteration 2 / 4 8.841 * * * [progress]: picking best candidate 8.898 * * * * [pick]: Picked # 8.898 * * * [progress]: localizing error 8.930 * * * [progress]: generating rewritten candidates 8.930 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 1 2) 8.941 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 1) 9.002 * * * * [progress]: [ 3 / 4 ] rewriting at (2) 9.017 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1) 9.020 * * * [progress]: generating series expansions 9.020 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 1 2) 9.021 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.021 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0 9.021 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 9.021 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 9.021 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.021 * [backup-simplify]: Simplify 0.5 into 0.5 9.021 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 9.021 * [taylor]: Taking taylor expansion of phi2 in phi1 9.021 * [backup-simplify]: Simplify phi2 into phi2 9.021 * [taylor]: Taking taylor expansion of phi1 in phi1 9.021 * [backup-simplify]: Simplify 0 into 0 9.021 * [backup-simplify]: Simplify 1 into 1 9.021 * [backup-simplify]: Simplify (+ phi2 0) into phi2 9.021 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.021 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.021 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.021 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.021 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.021 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.021 * [backup-simplify]: Simplify 0.5 into 0.5 9.021 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.021 * [taylor]: Taking taylor expansion of phi2 in phi2 9.022 * [backup-simplify]: Simplify 0 into 0 9.022 * [backup-simplify]: Simplify 1 into 1 9.022 * [taylor]: Taking taylor expansion of phi1 in phi2 9.022 * [backup-simplify]: Simplify phi1 into phi1 9.022 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.022 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.022 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.022 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.022 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.022 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.022 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.022 * [backup-simplify]: Simplify 0.5 into 0.5 9.022 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.022 * [taylor]: Taking taylor expansion of phi2 in phi2 9.022 * [backup-simplify]: Simplify 0 into 0 9.022 * [backup-simplify]: Simplify 1 into 1 9.022 * [taylor]: Taking taylor expansion of phi1 in phi2 9.022 * [backup-simplify]: Simplify phi1 into phi1 9.022 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.022 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.022 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.022 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.023 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.023 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.023 * [backup-simplify]: Simplify (- 0) into 0 9.024 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.024 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.024 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.024 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.024 * [backup-simplify]: Simplify 0.5 into 0.5 9.024 * [taylor]: Taking taylor expansion of phi1 in phi1 9.024 * [backup-simplify]: Simplify 0 into 0 9.024 * [backup-simplify]: Simplify 1 into 1 9.024 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.025 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.025 * [backup-simplify]: Simplify 1 into 1 9.026 * [backup-simplify]: Simplify (+ 0) into 0 9.026 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.026 * [backup-simplify]: Simplify (+ 1 0) into 1 9.027 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.028 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.029 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.029 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.029 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.029 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 9.029 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 9.029 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.029 * [backup-simplify]: Simplify 0.5 into 0.5 9.029 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.029 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.029 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.029 * [backup-simplify]: Simplify 0.5 into 0.5 9.029 * [taylor]: Taking taylor expansion of phi1 in phi1 9.029 * [backup-simplify]: Simplify 0 into 0 9.029 * [backup-simplify]: Simplify 1 into 1 9.029 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.030 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.031 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.031 * [backup-simplify]: Simplify (- 0) into 0 9.031 * [backup-simplify]: Simplify 0 into 0 9.031 * [backup-simplify]: Simplify (+ 0) into 0 9.031 * [backup-simplify]: Simplify 0 into 0 9.033 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 9.034 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1)))) 9.034 * [backup-simplify]: Simplify (+ 0 0) into 0 9.035 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0 9.035 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.036 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0 9.036 * [backup-simplify]: Simplify (- 0) into 0 9.036 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 9.036 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 9.036 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 9.036 * [taylor]: Taking taylor expansion of 0.125 in phi1 9.036 * [backup-simplify]: Simplify 0.125 into 0.125 9.036 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.036 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.036 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.036 * [backup-simplify]: Simplify 0.5 into 0.5 9.036 * [taylor]: Taking taylor expansion of phi1 in phi1 9.036 * [backup-simplify]: Simplify 0 into 0 9.036 * [backup-simplify]: Simplify 1 into 1 9.037 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.038 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.039 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 9.039 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 9.039 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 9.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.042 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 9.042 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 9.042 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 9.043 * [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)))) 9.043 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.043 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 9.043 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.043 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.043 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.043 * [backup-simplify]: Simplify 0.5 into 0.5 9.043 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.043 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.043 * [taylor]: Taking taylor expansion of phi1 in phi1 9.043 * [backup-simplify]: Simplify 0 into 0 9.043 * [backup-simplify]: Simplify 1 into 1 9.043 * [backup-simplify]: Simplify (/ 1 1) into 1 9.044 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.044 * [taylor]: Taking taylor expansion of phi2 in phi1 9.044 * [backup-simplify]: Simplify phi2 into phi2 9.044 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.044 * [backup-simplify]: Simplify (+ 1 0) into 1 9.044 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.044 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.044 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.044 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.044 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.044 * [backup-simplify]: Simplify 0.5 into 0.5 9.044 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.044 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.044 * [taylor]: Taking taylor expansion of phi1 in phi2 9.044 * [backup-simplify]: Simplify phi1 into phi1 9.044 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.045 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.045 * [taylor]: Taking taylor expansion of phi2 in phi2 9.045 * [backup-simplify]: Simplify 0 into 0 9.045 * [backup-simplify]: Simplify 1 into 1 9.045 * [backup-simplify]: Simplify (/ 1 1) into 1 9.045 * [backup-simplify]: Simplify (+ 0 1) into 1 9.045 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.045 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.046 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.046 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.046 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.046 * [backup-simplify]: Simplify 0.5 into 0.5 9.046 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.046 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.046 * [taylor]: Taking taylor expansion of phi1 in phi2 9.046 * [backup-simplify]: Simplify phi1 into phi1 9.046 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.046 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.046 * [taylor]: Taking taylor expansion of phi2 in phi2 9.046 * [backup-simplify]: Simplify 0 into 0 9.046 * [backup-simplify]: Simplify 1 into 1 9.046 * [backup-simplify]: Simplify (/ 1 1) into 1 9.046 * [backup-simplify]: Simplify (+ 0 1) into 1 9.047 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.047 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.047 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.047 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.047 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.047 * [backup-simplify]: Simplify 0.5 into 0.5 9.047 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.047 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.047 * [taylor]: Taking taylor expansion of phi1 in phi1 9.047 * [backup-simplify]: Simplify 0 into 0 9.047 * [backup-simplify]: Simplify 1 into 1 9.047 * [backup-simplify]: Simplify (/ 1 1) into 1 9.047 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.047 * [taylor]: Taking taylor expansion of phi2 in phi1 9.047 * [backup-simplify]: Simplify phi2 into phi2 9.047 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.048 * [backup-simplify]: Simplify (+ 1 0) into 1 9.048 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.048 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.048 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.048 * [taylor]: Taking taylor expansion of 0 in phi1 9.048 * [backup-simplify]: Simplify 0 into 0 9.048 * [backup-simplify]: Simplify 0 into 0 9.048 * [backup-simplify]: Simplify 0 into 0 9.048 * [taylor]: Taking taylor expansion of 0 in phi1 9.048 * [backup-simplify]: Simplify 0 into 0 9.048 * [backup-simplify]: Simplify 0 into 0 9.048 * [backup-simplify]: Simplify 0 into 0 9.048 * [backup-simplify]: Simplify 0 into 0 9.048 * [taylor]: Taking taylor expansion of 0 in phi1 9.048 * [backup-simplify]: Simplify 0 into 0 9.048 * [backup-simplify]: Simplify 0 into 0 9.049 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1))) 9.049 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.049 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0 9.049 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.049 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.049 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.049 * [backup-simplify]: Simplify -0.5 into -0.5 9.049 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.049 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.049 * [taylor]: Taking taylor expansion of phi1 in phi1 9.049 * [backup-simplify]: Simplify 0 into 0 9.049 * [backup-simplify]: Simplify 1 into 1 9.052 * [backup-simplify]: Simplify (/ 1 1) into 1 9.052 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.052 * [taylor]: Taking taylor expansion of phi2 in phi1 9.052 * [backup-simplify]: Simplify phi2 into phi2 9.053 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.053 * [backup-simplify]: Simplify (+ 1 0) into 1 9.054 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.054 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.054 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.054 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.054 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.054 * [backup-simplify]: Simplify -0.5 into -0.5 9.054 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.054 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.054 * [taylor]: Taking taylor expansion of phi1 in phi2 9.054 * [backup-simplify]: Simplify phi1 into phi1 9.054 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.054 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.054 * [taylor]: Taking taylor expansion of phi2 in phi2 9.054 * [backup-simplify]: Simplify 0 into 0 9.054 * [backup-simplify]: Simplify 1 into 1 9.055 * [backup-simplify]: Simplify (/ 1 1) into 1 9.055 * [backup-simplify]: Simplify (+ 0 1) into 1 9.056 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.056 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.056 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.056 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.056 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.056 * [backup-simplify]: Simplify -0.5 into -0.5 9.056 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.056 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.056 * [taylor]: Taking taylor expansion of phi1 in phi2 9.056 * [backup-simplify]: Simplify phi1 into phi1 9.056 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.056 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.056 * [taylor]: Taking taylor expansion of phi2 in phi2 9.056 * [backup-simplify]: Simplify 0 into 0 9.056 * [backup-simplify]: Simplify 1 into 1 9.057 * [backup-simplify]: Simplify (/ 1 1) into 1 9.057 * [backup-simplify]: Simplify (+ 0 1) into 1 9.058 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.058 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.058 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.058 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.058 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.058 * [backup-simplify]: Simplify -0.5 into -0.5 9.058 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.058 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.058 * [taylor]: Taking taylor expansion of phi1 in phi1 9.058 * [backup-simplify]: Simplify 0 into 0 9.058 * [backup-simplify]: Simplify 1 into 1 9.059 * [backup-simplify]: Simplify (/ 1 1) into 1 9.059 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.059 * [taylor]: Taking taylor expansion of phi2 in phi1 9.059 * [backup-simplify]: Simplify phi2 into phi2 9.059 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.060 * [backup-simplify]: Simplify (+ 1 0) into 1 9.060 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.060 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.061 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.061 * [taylor]: Taking taylor expansion of 0 in phi1 9.061 * [backup-simplify]: Simplify 0 into 0 9.061 * [backup-simplify]: Simplify 0 into 0 9.061 * [backup-simplify]: Simplify 0 into 0 9.061 * [taylor]: Taking taylor expansion of 0 in phi1 9.061 * [backup-simplify]: Simplify 0 into 0 9.061 * [backup-simplify]: Simplify 0 into 0 9.061 * [backup-simplify]: Simplify 0 into 0 9.061 * [backup-simplify]: Simplify 0 into 0 9.061 * [taylor]: Taking taylor expansion of 0 in phi1 9.061 * [backup-simplify]: Simplify 0 into 0 9.061 * [backup-simplify]: Simplify 0 into 0 9.061 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1))) 9.062 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 1) 9.062 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) 9.062 * [approximate]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in (lambda1 lambda2 phi2 phi1) around 0 9.062 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi1 9.062 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 9.062 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.062 * [backup-simplify]: Simplify lambda1 into lambda1 9.062 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.062 * [backup-simplify]: Simplify lambda2 into lambda2 9.062 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 9.062 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 9.062 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.062 * [backup-simplify]: Simplify 0.5 into 0.5 9.062 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 9.062 * [taylor]: Taking taylor expansion of phi2 in phi1 9.062 * [backup-simplify]: Simplify phi2 into phi2 9.062 * [taylor]: Taking taylor expansion of phi1 in phi1 9.062 * [backup-simplify]: Simplify 0 into 0 9.062 * [backup-simplify]: Simplify 1 into 1 9.063 * [backup-simplify]: Simplify (+ phi2 0) into phi2 9.063 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.063 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.063 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.063 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi2 9.063 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 9.063 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.063 * [backup-simplify]: Simplify lambda1 into lambda1 9.063 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.063 * [backup-simplify]: Simplify lambda2 into lambda2 9.063 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.063 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.063 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.063 * [backup-simplify]: Simplify 0.5 into 0.5 9.063 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.063 * [taylor]: Taking taylor expansion of phi2 in phi2 9.063 * [backup-simplify]: Simplify 0 into 0 9.063 * [backup-simplify]: Simplify 1 into 1 9.063 * [taylor]: Taking taylor expansion of phi1 in phi2 9.063 * [backup-simplify]: Simplify phi1 into phi1 9.063 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.063 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.063 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.064 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.064 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda2 9.064 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 9.064 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.064 * [backup-simplify]: Simplify lambda1 into lambda1 9.064 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.064 * [backup-simplify]: Simplify 0 into 0 9.064 * [backup-simplify]: Simplify 1 into 1 9.064 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 9.064 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 9.064 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.064 * [backup-simplify]: Simplify 0.5 into 0.5 9.064 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 9.064 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.064 * [backup-simplify]: Simplify phi2 into phi2 9.064 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.064 * [backup-simplify]: Simplify phi1 into phi1 9.064 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.064 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.064 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.064 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.064 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 9.064 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 9.064 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.064 * [backup-simplify]: Simplify 0 into 0 9.065 * [backup-simplify]: Simplify 1 into 1 9.065 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.065 * [backup-simplify]: Simplify lambda2 into lambda2 9.065 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 9.065 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 9.065 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.065 * [backup-simplify]: Simplify 0.5 into 0.5 9.065 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 9.065 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.065 * [backup-simplify]: Simplify phi2 into phi2 9.065 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.065 * [backup-simplify]: Simplify phi1 into phi1 9.065 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.065 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.065 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.065 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.065 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 9.065 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 9.065 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.065 * [backup-simplify]: Simplify 0 into 0 9.065 * [backup-simplify]: Simplify 1 into 1 9.065 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.065 * [backup-simplify]: Simplify lambda2 into lambda2 9.065 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 9.065 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 9.065 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.065 * [backup-simplify]: Simplify 0.5 into 0.5 9.066 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 9.066 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.066 * [backup-simplify]: Simplify phi2 into phi2 9.066 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.066 * [backup-simplify]: Simplify phi1 into phi1 9.066 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.066 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.066 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.066 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.066 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 9.066 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 9.066 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.066 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.067 * [backup-simplify]: Simplify (- 0) into 0 9.067 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.067 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 9.067 * [taylor]: Taking taylor expansion of (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) in lambda2 9.067 * [taylor]: Taking taylor expansion of -1 in lambda2 9.067 * [backup-simplify]: Simplify -1 into -1 9.067 * [taylor]: Taking taylor expansion of (* lambda2 (cos (* 0.5 (+ phi2 phi1)))) in lambda2 9.067 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.068 * [backup-simplify]: Simplify 0 into 0 9.068 * [backup-simplify]: Simplify 1 into 1 9.068 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 9.068 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 9.068 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.068 * [backup-simplify]: Simplify 0.5 into 0.5 9.068 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 9.068 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.068 * [backup-simplify]: Simplify phi2 into phi2 9.068 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.068 * [backup-simplify]: Simplify phi1 into phi1 9.068 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.068 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.068 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.068 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.068 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.068 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.069 * [backup-simplify]: Simplify (- 0) into 0 9.069 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.069 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ phi2 phi1)))) into 0 9.069 * [backup-simplify]: Simplify (* -1 0) into 0 9.069 * [taylor]: Taking taylor expansion of 0 in phi2 9.069 * [backup-simplify]: Simplify 0 into 0 9.069 * [taylor]: Taking taylor expansion of 0 in phi1 9.069 * [backup-simplify]: Simplify 0 into 0 9.069 * [backup-simplify]: Simplify 0 into 0 9.069 * [backup-simplify]: Simplify (+ 0) into 0 9.070 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.070 * [backup-simplify]: Simplify (+ 0 0) into 0 9.070 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.071 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.071 * [backup-simplify]: Simplify (- 0) into 0 9.072 * [backup-simplify]: Simplify (+ 0 0) into 0 9.072 * [backup-simplify]: Simplify (- 0) into 0 9.072 * [backup-simplify]: Simplify (+ 1 0) into 1 9.072 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 9.072 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 9.072 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 9.072 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.072 * [backup-simplify]: Simplify 0.5 into 0.5 9.072 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 9.072 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.072 * [backup-simplify]: Simplify phi2 into phi2 9.072 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.072 * [backup-simplify]: Simplify phi1 into phi1 9.072 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.073 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.073 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.073 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.073 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.073 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.073 * [backup-simplify]: Simplify (- 0) into 0 9.073 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.073 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.073 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.073 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.073 * [backup-simplify]: Simplify 0.5 into 0.5 9.073 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.073 * [taylor]: Taking taylor expansion of phi2 in phi2 9.073 * [backup-simplify]: Simplify 0 into 0 9.073 * [backup-simplify]: Simplify 1 into 1 9.073 * [taylor]: Taking taylor expansion of phi1 in phi2 9.073 * [backup-simplify]: Simplify phi1 into phi1 9.073 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.073 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.073 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.074 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.074 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.074 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.074 * [backup-simplify]: Simplify (- 0) into 0 9.074 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.074 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.074 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.074 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.074 * [backup-simplify]: Simplify 0.5 into 0.5 9.074 * [taylor]: Taking taylor expansion of phi1 in phi1 9.074 * [backup-simplify]: Simplify 0 into 0 9.074 * [backup-simplify]: Simplify 1 into 1 9.074 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.075 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.075 * [backup-simplify]: Simplify 1 into 1 9.076 * [backup-simplify]: Simplify (+ 0) into 0 9.076 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.076 * [backup-simplify]: Simplify (+ 0 0) into 0 9.077 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.077 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.078 * [backup-simplify]: Simplify (- 0) into 0 9.078 * [backup-simplify]: Simplify (+ 0 0) into 0 9.078 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 9.079 * [backup-simplify]: Simplify (+ (* -1 (cos (* 0.5 (+ phi2 phi1)))) (* 0 0)) into (- (cos (* 0.5 (+ phi2 phi1)))) 9.079 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ phi2 phi1)))) in phi2 9.079 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.079 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.079 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.079 * [backup-simplify]: Simplify 0.5 into 0.5 9.079 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.079 * [taylor]: Taking taylor expansion of phi2 in phi2 9.079 * [backup-simplify]: Simplify 0 into 0 9.079 * [backup-simplify]: Simplify 1 into 1 9.079 * [taylor]: Taking taylor expansion of phi1 in phi2 9.079 * [backup-simplify]: Simplify phi1 into phi1 9.079 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.079 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.079 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.079 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.079 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.079 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.079 * [backup-simplify]: Simplify (- 0) into 0 9.079 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.079 * [backup-simplify]: Simplify (- (cos (* 0.5 phi1))) into (- (cos (* 0.5 phi1))) 9.079 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 phi1))) in phi1 9.079 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 9.079 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.079 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.080 * [backup-simplify]: Simplify 0.5 into 0.5 9.080 * [taylor]: Taking taylor expansion of phi1 in phi1 9.080 * [backup-simplify]: Simplify 0 into 0 9.080 * [backup-simplify]: Simplify 1 into 1 9.080 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.081 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.081 * [backup-simplify]: Simplify (- 1) into -1 9.081 * [backup-simplify]: Simplify -1 into -1 9.081 * [taylor]: Taking taylor expansion of 0 in phi1 9.081 * [backup-simplify]: Simplify 0 into 0 9.081 * [backup-simplify]: Simplify 0 into 0 9.081 * [backup-simplify]: Simplify 0 into 0 9.082 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.082 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 9.082 * [backup-simplify]: Simplify (+ 0 0) into 0 9.083 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 9.084 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.084 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 9.084 * [backup-simplify]: Simplify (- 0) into 0 9.084 * [backup-simplify]: Simplify (+ 0 0) into 0 9.085 * [backup-simplify]: Simplify (- 0) into 0 9.085 * [backup-simplify]: Simplify (+ 0 0) into 0 9.085 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 9.085 * [taylor]: Taking taylor expansion of 0 in lambda2 9.085 * [backup-simplify]: Simplify 0 into 0 9.085 * [taylor]: Taking taylor expansion of 0 in phi2 9.085 * [backup-simplify]: Simplify 0 into 0 9.085 * [taylor]: Taking taylor expansion of 0 in phi1 9.085 * [backup-simplify]: Simplify 0 into 0 9.085 * [backup-simplify]: Simplify 0 into 0 9.086 * [backup-simplify]: Simplify (+ 0) into 0 9.086 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.086 * [backup-simplify]: Simplify (+ 0 0) into 0 9.087 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.088 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.088 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.088 * [backup-simplify]: Simplify (- 0) into 0 9.088 * [backup-simplify]: Simplify (+ 0 0) into 0 9.088 * [taylor]: Taking taylor expansion of 0 in phi2 9.088 * [backup-simplify]: Simplify 0 into 0 9.088 * [taylor]: Taking taylor expansion of 0 in phi1 9.089 * [backup-simplify]: Simplify 0 into 0 9.089 * [backup-simplify]: Simplify 0 into 0 9.089 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.090 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 9.090 * [backup-simplify]: Simplify (+ 0 0) into 0 9.090 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 9.091 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.091 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 9.091 * [backup-simplify]: Simplify (- 0) into 0 9.092 * [backup-simplify]: Simplify (+ 0 0) into 0 9.092 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 9.093 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 (cos (* 0.5 (+ phi2 phi1)))) (* 0 0))) into 0 9.093 * [taylor]: Taking taylor expansion of 0 in phi2 9.093 * [backup-simplify]: Simplify 0 into 0 9.093 * [taylor]: Taking taylor expansion of 0 in phi1 9.093 * [backup-simplify]: Simplify 0 into 0 9.093 * [backup-simplify]: Simplify 0 into 0 9.093 * [backup-simplify]: Simplify (+ 0) into 0 9.094 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.094 * [backup-simplify]: Simplify (+ 1 0) into 1 9.094 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.096 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.096 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.096 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.096 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.096 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 9.096 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 9.097 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.097 * [backup-simplify]: Simplify 0.5 into 0.5 9.097 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 9.097 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 9.097 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.097 * [backup-simplify]: Simplify 0.5 into 0.5 9.097 * [taylor]: Taking taylor expansion of phi1 in phi1 9.097 * [backup-simplify]: Simplify 0 into 0 9.097 * [backup-simplify]: Simplify 1 into 1 9.097 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.099 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.099 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.099 * [backup-simplify]: Simplify (- 0) into 0 9.099 * [backup-simplify]: Simplify 0 into 0 9.100 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* lambda2 1)))) (* 1 (* 1 (* 1 (* 1 lambda1))))) into (- lambda1 lambda2) 9.100 * [backup-simplify]: Simplify (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1))))) into (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.100 * [approximate]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in (lambda1 lambda2 phi2 phi1) around 0 9.100 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.100 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 9.100 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 9.100 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.100 * [backup-simplify]: Simplify lambda1 into lambda1 9.100 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.100 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 9.101 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.101 * [backup-simplify]: Simplify lambda2 into lambda2 9.101 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.101 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.101 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.101 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.101 * [backup-simplify]: Simplify 0.5 into 0.5 9.101 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.101 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.101 * [taylor]: Taking taylor expansion of phi1 in phi1 9.101 * [backup-simplify]: Simplify 0 into 0 9.101 * [backup-simplify]: Simplify 1 into 1 9.101 * [backup-simplify]: Simplify (/ 1 1) into 1 9.101 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.101 * [taylor]: Taking taylor expansion of phi2 in phi1 9.101 * [backup-simplify]: Simplify phi2 into phi2 9.101 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.102 * [backup-simplify]: Simplify (+ 1 0) into 1 9.103 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.103 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.103 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 9.103 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 9.103 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 9.103 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.103 * [backup-simplify]: Simplify lambda1 into lambda1 9.103 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.103 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 9.103 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.103 * [backup-simplify]: Simplify lambda2 into lambda2 9.103 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.103 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.104 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.104 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.104 * [backup-simplify]: Simplify 0.5 into 0.5 9.104 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.104 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.104 * [taylor]: Taking taylor expansion of phi1 in phi2 9.104 * [backup-simplify]: Simplify phi1 into phi1 9.104 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.104 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.104 * [taylor]: Taking taylor expansion of phi2 in phi2 9.104 * [backup-simplify]: Simplify 0 into 0 9.104 * [backup-simplify]: Simplify 1 into 1 9.104 * [backup-simplify]: Simplify (/ 1 1) into 1 9.105 * [backup-simplify]: Simplify (+ 0 1) into 1 9.105 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.105 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.105 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.105 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 9.105 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 9.105 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.105 * [backup-simplify]: Simplify lambda1 into lambda1 9.106 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.106 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 9.106 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.106 * [backup-simplify]: Simplify 0 into 0 9.106 * [backup-simplify]: Simplify 1 into 1 9.106 * [backup-simplify]: Simplify (/ 1 1) into 1 9.106 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.106 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.106 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.106 * [backup-simplify]: Simplify 0.5 into 0.5 9.106 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.106 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.106 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.106 * [backup-simplify]: Simplify phi1 into phi1 9.106 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.106 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.106 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.106 * [backup-simplify]: Simplify phi2 into phi2 9.107 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.107 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.107 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.107 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.107 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.107 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.107 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 9.107 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 9.107 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.107 * [backup-simplify]: Simplify 0 into 0 9.107 * [backup-simplify]: Simplify 1 into 1 9.108 * [backup-simplify]: Simplify (/ 1 1) into 1 9.108 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.108 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.108 * [backup-simplify]: Simplify lambda2 into lambda2 9.108 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.108 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.108 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.108 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.108 * [backup-simplify]: Simplify 0.5 into 0.5 9.108 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.108 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.108 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.108 * [backup-simplify]: Simplify phi1 into phi1 9.108 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.108 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.108 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.108 * [backup-simplify]: Simplify phi2 into phi2 9.108 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.108 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.109 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.109 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.109 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.109 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.109 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 9.109 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 9.109 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.109 * [backup-simplify]: Simplify 0 into 0 9.109 * [backup-simplify]: Simplify 1 into 1 9.110 * [backup-simplify]: Simplify (/ 1 1) into 1 9.110 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.110 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.110 * [backup-simplify]: Simplify lambda2 into lambda2 9.110 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.110 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.110 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.110 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.110 * [backup-simplify]: Simplify 0.5 into 0.5 9.110 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.110 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.110 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.110 * [backup-simplify]: Simplify phi1 into phi1 9.110 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.110 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.110 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.110 * [backup-simplify]: Simplify phi2 into phi2 9.110 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.110 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.110 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.111 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.111 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.111 * [backup-simplify]: Simplify (+ 1 0) into 1 9.112 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.112 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.112 * [backup-simplify]: Simplify (- 0) into 0 9.112 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.113 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.113 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.113 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.113 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.113 * [backup-simplify]: Simplify 0.5 into 0.5 9.113 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.113 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.113 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.113 * [backup-simplify]: Simplify phi1 into phi1 9.113 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.113 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.113 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.113 * [backup-simplify]: Simplify phi2 into phi2 9.113 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.113 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.113 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.113 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.114 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.114 * [backup-simplify]: Simplify (+ 0) into 0 9.115 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.115 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.115 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.115 * [backup-simplify]: Simplify (+ 0 0) into 0 9.116 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.117 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.118 * [backup-simplify]: Simplify (- 0) into 0 9.118 * [backup-simplify]: Simplify (+ 0 0) into 0 9.119 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.119 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 9.119 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 9.120 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 9.120 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 9.120 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 9.120 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.120 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.120 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.120 * [backup-simplify]: Simplify 0.5 into 0.5 9.120 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.120 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.120 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.120 * [backup-simplify]: Simplify phi1 into phi1 9.120 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.120 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.120 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.120 * [backup-simplify]: Simplify phi2 into phi2 9.120 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.120 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.120 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.121 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.121 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.121 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.121 * [backup-simplify]: Simplify 0 into 0 9.121 * [backup-simplify]: Simplify 1 into 1 9.121 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.121 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.121 * [backup-simplify]: Simplify (- 0) into 0 9.121 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.121 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.122 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.122 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 9.122 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.122 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.122 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.122 * [backup-simplify]: Simplify 0.5 into 0.5 9.122 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.122 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.122 * [taylor]: Taking taylor expansion of phi1 in phi2 9.122 * [backup-simplify]: Simplify phi1 into phi1 9.122 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.122 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.122 * [taylor]: Taking taylor expansion of phi2 in phi2 9.122 * [backup-simplify]: Simplify 0 into 0 9.122 * [backup-simplify]: Simplify 1 into 1 9.122 * [backup-simplify]: Simplify (/ 1 1) into 1 9.122 * [backup-simplify]: Simplify (+ 0 1) into 1 9.123 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.123 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.123 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.123 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.123 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.123 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.123 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.123 * [backup-simplify]: Simplify 0.5 into 0.5 9.123 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.123 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.123 * [taylor]: Taking taylor expansion of phi1 in phi1 9.123 * [backup-simplify]: Simplify 0 into 0 9.123 * [backup-simplify]: Simplify 1 into 1 9.123 * [backup-simplify]: Simplify (/ 1 1) into 1 9.123 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.123 * [taylor]: Taking taylor expansion of phi2 in phi1 9.123 * [backup-simplify]: Simplify phi2 into phi2 9.123 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.124 * [backup-simplify]: Simplify (+ 1 0) into 1 9.124 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.124 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.124 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.124 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.124 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.125 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.125 * [backup-simplify]: Simplify (- 0) into 0 9.125 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.125 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.125 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.125 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.125 * [backup-simplify]: Simplify 0.5 into 0.5 9.125 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.125 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.125 * [taylor]: Taking taylor expansion of phi1 in phi2 9.125 * [backup-simplify]: Simplify phi1 into phi1 9.125 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.125 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.125 * [taylor]: Taking taylor expansion of phi2 in phi2 9.125 * [backup-simplify]: Simplify 0 into 0 9.125 * [backup-simplify]: Simplify 1 into 1 9.126 * [backup-simplify]: Simplify (/ 1 1) into 1 9.126 * [backup-simplify]: Simplify (+ 0 1) into 1 9.126 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.126 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.126 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.126 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.126 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.126 * [backup-simplify]: Simplify 0.5 into 0.5 9.126 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.126 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.126 * [taylor]: Taking taylor expansion of phi1 in phi1 9.126 * [backup-simplify]: Simplify 0 into 0 9.126 * [backup-simplify]: Simplify 1 into 1 9.127 * [backup-simplify]: Simplify (/ 1 1) into 1 9.127 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.127 * [taylor]: Taking taylor expansion of phi2 in phi1 9.127 * [backup-simplify]: Simplify phi2 into phi2 9.127 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.127 * [backup-simplify]: Simplify (+ 1 0) into 1 9.127 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.127 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.128 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.128 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.129 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.129 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.129 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.129 * [backup-simplify]: Simplify (+ 0 0) into 0 9.130 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.130 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.131 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.131 * [backup-simplify]: Simplify (- 0) into 0 9.131 * [backup-simplify]: Simplify (+ 0 0) into 0 9.132 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.132 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 9.132 * [backup-simplify]: Simplify (- 0) into 0 9.132 * [backup-simplify]: Simplify (+ 0 0) into 0 9.133 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.133 * [taylor]: Taking taylor expansion of 0 in lambda2 9.133 * [backup-simplify]: Simplify 0 into 0 9.133 * [backup-simplify]: Simplify (+ 0) into 0 9.133 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.134 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.134 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.134 * [backup-simplify]: Simplify (+ 0 0) into 0 9.134 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.135 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.135 * [backup-simplify]: Simplify (- 0) into 0 9.136 * [backup-simplify]: Simplify (+ 0 0) into 0 9.136 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 9.136 * [backup-simplify]: Simplify (- 0) into 0 9.137 * [taylor]: Taking taylor expansion of 0 in phi2 9.137 * [backup-simplify]: Simplify 0 into 0 9.137 * [taylor]: Taking taylor expansion of 0 in phi1 9.137 * [backup-simplify]: Simplify 0 into 0 9.137 * [backup-simplify]: Simplify 0 into 0 9.137 * [backup-simplify]: Simplify (+ 0) into 0 9.137 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.137 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.137 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.138 * [backup-simplify]: Simplify (+ 0 0) into 0 9.138 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.139 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.139 * [backup-simplify]: Simplify (- 0) into 0 9.139 * [backup-simplify]: Simplify (+ 0 0) into 0 9.139 * [taylor]: Taking taylor expansion of 0 in phi2 9.139 * [backup-simplify]: Simplify 0 into 0 9.139 * [taylor]: Taking taylor expansion of 0 in phi1 9.139 * [backup-simplify]: Simplify 0 into 0 9.139 * [backup-simplify]: Simplify 0 into 0 9.140 * [backup-simplify]: Simplify (- 0) into 0 9.140 * [taylor]: Taking taylor expansion of 0 in phi1 9.140 * [backup-simplify]: Simplify 0 into 0 9.140 * [backup-simplify]: Simplify 0 into 0 9.140 * [taylor]: Taking taylor expansion of 0 in phi1 9.140 * [backup-simplify]: Simplify 0 into 0 9.140 * [backup-simplify]: Simplify 0 into 0 9.140 * [backup-simplify]: Simplify (- 0) into 0 9.140 * [backup-simplify]: Simplify 0 into 0 9.140 * [backup-simplify]: Simplify 0 into 0 9.141 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda1)))))) (* (- (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) into (- (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 9.141 * [backup-simplify]: Simplify (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1)))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.141 * [approximate]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in (lambda1 lambda2 phi2 phi1) around 0 9.141 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.141 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 9.141 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 9.141 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.141 * [backup-simplify]: Simplify lambda2 into lambda2 9.141 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.141 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 9.141 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.141 * [backup-simplify]: Simplify lambda1 into lambda1 9.141 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.141 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.141 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.141 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.141 * [backup-simplify]: Simplify -0.5 into -0.5 9.141 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.141 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.141 * [taylor]: Taking taylor expansion of phi1 in phi1 9.141 * [backup-simplify]: Simplify 0 into 0 9.141 * [backup-simplify]: Simplify 1 into 1 9.142 * [backup-simplify]: Simplify (/ 1 1) into 1 9.142 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.142 * [taylor]: Taking taylor expansion of phi2 in phi1 9.142 * [backup-simplify]: Simplify phi2 into phi2 9.142 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.142 * [backup-simplify]: Simplify (+ 1 0) into 1 9.142 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.142 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.142 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 9.142 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 9.142 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 9.142 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.142 * [backup-simplify]: Simplify lambda2 into lambda2 9.142 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.142 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 9.142 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.142 * [backup-simplify]: Simplify lambda1 into lambda1 9.143 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.143 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.143 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.143 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.143 * [backup-simplify]: Simplify -0.5 into -0.5 9.143 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.143 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.143 * [taylor]: Taking taylor expansion of phi1 in phi2 9.143 * [backup-simplify]: Simplify phi1 into phi1 9.143 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.143 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.143 * [taylor]: Taking taylor expansion of phi2 in phi2 9.143 * [backup-simplify]: Simplify 0 into 0 9.143 * [backup-simplify]: Simplify 1 into 1 9.143 * [backup-simplify]: Simplify (/ 1 1) into 1 9.143 * [backup-simplify]: Simplify (+ 0 1) into 1 9.144 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.144 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.144 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.144 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 9.144 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 9.144 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.144 * [backup-simplify]: Simplify 0 into 0 9.144 * [backup-simplify]: Simplify 1 into 1 9.144 * [backup-simplify]: Simplify (/ 1 1) into 1 9.144 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 9.144 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.144 * [backup-simplify]: Simplify lambda1 into lambda1 9.144 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.144 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.144 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.144 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.144 * [backup-simplify]: Simplify -0.5 into -0.5 9.144 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.144 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.144 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.144 * [backup-simplify]: Simplify phi1 into phi1 9.144 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.144 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.144 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.144 * [backup-simplify]: Simplify phi2 into phi2 9.144 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.145 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.145 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.145 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.145 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.145 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.145 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 9.145 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.145 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.145 * [backup-simplify]: Simplify lambda2 into lambda2 9.145 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.145 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 9.145 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.145 * [backup-simplify]: Simplify 0 into 0 9.145 * [backup-simplify]: Simplify 1 into 1 9.145 * [backup-simplify]: Simplify (/ 1 1) into 1 9.145 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.145 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.145 * [taylor]: Taking taylor expansion of -0.5 in lambda1 9.145 * [backup-simplify]: Simplify -0.5 into -0.5 9.145 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.145 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.145 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.145 * [backup-simplify]: Simplify phi1 into phi1 9.145 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.146 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.146 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.146 * [backup-simplify]: Simplify phi2 into phi2 9.146 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.146 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.146 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.146 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.146 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.146 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.146 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 9.146 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.146 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.146 * [backup-simplify]: Simplify lambda2 into lambda2 9.146 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.146 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 9.146 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.146 * [backup-simplify]: Simplify 0 into 0 9.146 * [backup-simplify]: Simplify 1 into 1 9.146 * [backup-simplify]: Simplify (/ 1 1) into 1 9.146 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.146 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.146 * [taylor]: Taking taylor expansion of -0.5 in lambda1 9.146 * [backup-simplify]: Simplify -0.5 into -0.5 9.146 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.147 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.147 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.147 * [backup-simplify]: Simplify phi1 into phi1 9.147 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.147 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.147 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.147 * [backup-simplify]: Simplify phi2 into phi2 9.147 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.147 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.147 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.147 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.147 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.148 * [backup-simplify]: Simplify (- 1) into -1 9.148 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.148 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.148 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.149 * [backup-simplify]: Simplify (- 0) into 0 9.149 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.149 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.149 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.149 * [taylor]: Taking taylor expansion of -1 in lambda2 9.149 * [backup-simplify]: Simplify -1 into -1 9.149 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.149 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.149 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.149 * [backup-simplify]: Simplify -0.5 into -0.5 9.149 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.149 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.149 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.149 * [backup-simplify]: Simplify phi1 into phi1 9.149 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.149 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.149 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.149 * [backup-simplify]: Simplify phi2 into phi2 9.150 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.150 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.150 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.150 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.150 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.151 * [backup-simplify]: Simplify (+ 0) into 0 9.151 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.151 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.152 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.152 * [backup-simplify]: Simplify (+ 0 0) into 0 9.152 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.154 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.154 * [backup-simplify]: Simplify (- 0) into 0 9.155 * [backup-simplify]: Simplify (+ 0 0) into 0 9.155 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.156 * [backup-simplify]: Simplify (- 0) into 0 9.156 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 9.157 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 9.157 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 9.157 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.157 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.157 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.157 * [backup-simplify]: Simplify -0.5 into -0.5 9.157 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.157 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.157 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.157 * [backup-simplify]: Simplify phi1 into phi1 9.157 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.157 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.157 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.157 * [backup-simplify]: Simplify phi2 into phi2 9.157 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.157 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.157 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.158 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.158 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.158 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.158 * [backup-simplify]: Simplify 0 into 0 9.158 * [backup-simplify]: Simplify 1 into 1 9.158 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.158 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.159 * [backup-simplify]: Simplify (- 0) into 0 9.159 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.159 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.159 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.159 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.159 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.159 * [backup-simplify]: Simplify -0.5 into -0.5 9.159 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.159 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.159 * [taylor]: Taking taylor expansion of phi1 in phi2 9.159 * [backup-simplify]: Simplify phi1 into phi1 9.159 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.159 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.159 * [taylor]: Taking taylor expansion of phi2 in phi2 9.159 * [backup-simplify]: Simplify 0 into 0 9.160 * [backup-simplify]: Simplify 1 into 1 9.160 * [backup-simplify]: Simplify (/ 1 1) into 1 9.160 * [backup-simplify]: Simplify (+ 0 1) into 1 9.161 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.161 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.161 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.161 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.161 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.161 * [backup-simplify]: Simplify -0.5 into -0.5 9.161 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.161 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.161 * [taylor]: Taking taylor expansion of phi1 in phi1 9.161 * [backup-simplify]: Simplify 0 into 0 9.161 * [backup-simplify]: Simplify 1 into 1 9.162 * [backup-simplify]: Simplify (/ 1 1) into 1 9.162 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.162 * [taylor]: Taking taylor expansion of phi2 in phi1 9.162 * [backup-simplify]: Simplify phi2 into phi2 9.162 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.162 * [backup-simplify]: Simplify (+ 1 0) into 1 9.163 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.163 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.163 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.163 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.164 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.164 * [backup-simplify]: Simplify (- 0) into 0 9.164 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.164 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.164 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 9.164 * [taylor]: Taking taylor expansion of -1 in phi2 9.164 * [backup-simplify]: Simplify -1 into -1 9.164 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.164 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.164 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.164 * [backup-simplify]: Simplify -0.5 into -0.5 9.164 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.164 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.164 * [taylor]: Taking taylor expansion of phi1 in phi2 9.164 * [backup-simplify]: Simplify phi1 into phi1 9.165 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.165 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.165 * [taylor]: Taking taylor expansion of phi2 in phi2 9.165 * [backup-simplify]: Simplify 0 into 0 9.165 * [backup-simplify]: Simplify 1 into 1 9.165 * [backup-simplify]: Simplify (/ 1 1) into 1 9.165 * [backup-simplify]: Simplify (+ 0 1) into 1 9.165 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.166 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.166 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.166 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.166 * [taylor]: Taking taylor expansion of -1 in phi1 9.166 * [backup-simplify]: Simplify -1 into -1 9.166 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.166 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.166 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.166 * [backup-simplify]: Simplify -0.5 into -0.5 9.166 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.166 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.166 * [taylor]: Taking taylor expansion of phi1 in phi1 9.166 * [backup-simplify]: Simplify 0 into 0 9.166 * [backup-simplify]: Simplify 1 into 1 9.166 * [backup-simplify]: Simplify (/ 1 1) into 1 9.166 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.166 * [taylor]: Taking taylor expansion of phi2 in phi1 9.166 * [backup-simplify]: Simplify phi2 into phi2 9.166 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.167 * [backup-simplify]: Simplify (+ 1 0) into 1 9.167 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.167 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.167 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.167 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.168 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.169 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.169 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.169 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.169 * [backup-simplify]: Simplify (+ 0 0) into 0 9.170 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.171 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.171 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.171 * [backup-simplify]: Simplify (- 0) into 0 9.171 * [backup-simplify]: Simplify (+ 0 0) into 0 9.172 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 9.172 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.172 * [backup-simplify]: Simplify (- 0) into 0 9.173 * [backup-simplify]: Simplify (+ 0 0) into 0 9.173 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.173 * [taylor]: Taking taylor expansion of 0 in lambda2 9.173 * [backup-simplify]: Simplify 0 into 0 9.173 * [backup-simplify]: Simplify (+ 0) into 0 9.174 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.174 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.174 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.174 * [backup-simplify]: Simplify (+ 0 0) into 0 9.174 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.175 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.176 * [backup-simplify]: Simplify (- 0) into 0 9.176 * [backup-simplify]: Simplify (+ 0 0) into 0 9.180 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 9.180 * [taylor]: Taking taylor expansion of 0 in phi2 9.180 * [backup-simplify]: Simplify 0 into 0 9.180 * [taylor]: Taking taylor expansion of 0 in phi1 9.180 * [backup-simplify]: Simplify 0 into 0 9.180 * [backup-simplify]: Simplify 0 into 0 9.180 * [backup-simplify]: Simplify (+ 0) into 0 9.180 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.181 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.181 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.181 * [backup-simplify]: Simplify (+ 0 0) into 0 9.181 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.182 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.182 * [backup-simplify]: Simplify (- 0) into 0 9.183 * [backup-simplify]: Simplify (+ 0 0) into 0 9.183 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.183 * [taylor]: Taking taylor expansion of 0 in phi2 9.183 * [backup-simplify]: Simplify 0 into 0 9.183 * [taylor]: Taking taylor expansion of 0 in phi1 9.183 * [backup-simplify]: Simplify 0 into 0 9.183 * [backup-simplify]: Simplify 0 into 0 9.183 * [taylor]: Taking taylor expansion of 0 in phi1 9.183 * [backup-simplify]: Simplify 0 into 0 9.183 * [backup-simplify]: Simplify 0 into 0 9.184 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.184 * [taylor]: Taking taylor expansion of 0 in phi1 9.184 * [backup-simplify]: Simplify 0 into 0 9.184 * [backup-simplify]: Simplify 0 into 0 9.184 * [backup-simplify]: Simplify 0 into 0 9.184 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.184 * [backup-simplify]: Simplify 0 into 0 9.185 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda1))))))) (* (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) into (- (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 9.185 * * * * [progress]: [ 3 / 4 ] generating series at (2) 9.185 * [backup-simplify]: Simplify (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) into (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) 9.185 * [approximate]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in (lambda1 lambda2 phi2 phi1 R) around 0 9.185 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in R 9.185 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in R 9.185 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 9.185 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in R 9.185 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in R 9.185 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in R 9.185 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R 9.185 * [taylor]: Taking taylor expansion of lambda1 in R 9.185 * [backup-simplify]: Simplify lambda1 into lambda1 9.185 * [taylor]: Taking taylor expansion of lambda2 in R 9.185 * [backup-simplify]: Simplify lambda2 into lambda2 9.185 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in R 9.185 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in R 9.185 * [taylor]: Taking taylor expansion of 0.5 in R 9.185 * [backup-simplify]: Simplify 0.5 into 0.5 9.185 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in R 9.185 * [taylor]: Taking taylor expansion of phi2 in R 9.185 * [backup-simplify]: Simplify phi2 into phi2 9.185 * [taylor]: Taking taylor expansion of phi1 in R 9.185 * [backup-simplify]: Simplify phi1 into phi1 9.186 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.186 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.186 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.186 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.186 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in R 9.186 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R 9.186 * [taylor]: Taking taylor expansion of lambda1 in R 9.186 * [backup-simplify]: Simplify lambda1 into lambda1 9.186 * [taylor]: Taking taylor expansion of lambda2 in R 9.186 * [backup-simplify]: Simplify lambda2 into lambda2 9.186 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in R 9.186 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in R 9.186 * [taylor]: Taking taylor expansion of 0.5 in R 9.186 * [backup-simplify]: Simplify 0.5 into 0.5 9.186 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in R 9.186 * [taylor]: Taking taylor expansion of phi2 in R 9.186 * [backup-simplify]: Simplify phi2 into phi2 9.186 * [taylor]: Taking taylor expansion of phi1 in R 9.186 * [backup-simplify]: Simplify phi1 into phi1 9.186 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.186 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.186 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.186 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.186 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in R 9.186 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R 9.186 * [taylor]: Taking taylor expansion of phi1 in R 9.186 * [backup-simplify]: Simplify phi1 into phi1 9.186 * [taylor]: Taking taylor expansion of phi2 in R 9.186 * [backup-simplify]: Simplify phi2 into phi2 9.186 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R 9.186 * [taylor]: Taking taylor expansion of phi1 in R 9.186 * [backup-simplify]: Simplify phi1 into phi1 9.186 * [taylor]: Taking taylor expansion of phi2 in R 9.186 * [backup-simplify]: Simplify phi2 into phi2 9.186 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 9.186 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 9.186 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.187 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.187 * [backup-simplify]: Simplify (- 0) into 0 9.187 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.187 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) 9.187 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 9.187 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 9.187 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.187 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.187 * [backup-simplify]: Simplify (- 0) into 0 9.188 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.188 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) 9.188 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 9.188 * [backup-simplify]: Simplify (- phi2) into (- phi2) 9.188 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 9.188 * [backup-simplify]: Simplify (- phi2) into (- phi2) 9.188 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 9.188 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 9.189 * [backup-simplify]: Simplify (+ (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (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))))) 9.190 * [backup-simplify]: Simplify (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)))))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 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)))))) 9.190 * [backup-simplify]: Simplify (+ 0) into 0 9.190 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.191 * [backup-simplify]: Simplify (+ 0 0) into 0 9.191 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.192 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.192 * [backup-simplify]: Simplify (- 0) into 0 9.193 * [backup-simplify]: Simplify (+ 0 0) into 0 9.193 * [backup-simplify]: Simplify (- 0) into 0 9.193 * [backup-simplify]: Simplify (+ 0 0) into 0 9.194 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 9.194 * [backup-simplify]: Simplify (+ 0) into 0 9.194 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.195 * [backup-simplify]: Simplify (+ 0 0) into 0 9.195 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.197 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.197 * [backup-simplify]: Simplify (- 0) into 0 9.198 * [backup-simplify]: Simplify (+ 0 0) into 0 9.199 * [backup-simplify]: Simplify (- 0) into 0 9.199 * [backup-simplify]: Simplify (+ 0 0) into 0 9.199 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 9.200 * [backup-simplify]: Simplify (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) 0) (* 0 (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))))) into 0 9.200 * [backup-simplify]: Simplify (- 0) into 0 9.200 * [backup-simplify]: Simplify (+ 0 0) into 0 9.201 * [backup-simplify]: Simplify (- 0) into 0 9.201 * [backup-simplify]: Simplify (+ 0 0) into 0 9.201 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 9.202 * [backup-simplify]: Simplify (+ 0 0) into 0 9.204 * [backup-simplify]: Simplify (/ 0 (* 2 (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)))))))) into 0 9.204 * [taylor]: Taking taylor expansion of R in R 9.204 * [backup-simplify]: Simplify 0 into 0 9.205 * [backup-simplify]: Simplify 1 into 1 9.205 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in phi1 9.205 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in phi1 9.205 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 9.205 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in phi1 9.205 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in phi1 9.205 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi1 9.205 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 9.205 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.205 * [backup-simplify]: Simplify lambda1 into lambda1 9.205 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.205 * [backup-simplify]: Simplify lambda2 into lambda2 9.205 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 9.205 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 9.205 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.205 * [backup-simplify]: Simplify 0.5 into 0.5 9.205 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 9.205 * [taylor]: Taking taylor expansion of phi2 in phi1 9.205 * [backup-simplify]: Simplify phi2 into phi2 9.205 * [taylor]: Taking taylor expansion of phi1 in phi1 9.205 * [backup-simplify]: Simplify 0 into 0 9.206 * [backup-simplify]: Simplify 1 into 1 9.206 * [backup-simplify]: Simplify (+ phi2 0) into phi2 9.206 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.206 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.206 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.206 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi1 9.206 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 9.206 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.206 * [backup-simplify]: Simplify lambda1 into lambda1 9.206 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.206 * [backup-simplify]: Simplify lambda2 into lambda2 9.206 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 9.206 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 9.206 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.206 * [backup-simplify]: Simplify 0.5 into 0.5 9.206 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 9.206 * [taylor]: Taking taylor expansion of phi2 in phi1 9.206 * [backup-simplify]: Simplify phi2 into phi2 9.206 * [taylor]: Taking taylor expansion of phi1 in phi1 9.206 * [backup-simplify]: Simplify 0 into 0 9.206 * [backup-simplify]: Simplify 1 into 1 9.206 * [backup-simplify]: Simplify (+ phi2 0) into phi2 9.206 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.206 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.207 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.207 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi1 9.207 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1 9.207 * [taylor]: Taking taylor expansion of phi1 in phi1 9.207 * [backup-simplify]: Simplify 0 into 0 9.207 * [backup-simplify]: Simplify 1 into 1 9.207 * [taylor]: Taking taylor expansion of phi2 in phi1 9.207 * [backup-simplify]: Simplify phi2 into phi2 9.207 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1 9.207 * [taylor]: Taking taylor expansion of phi1 in phi1 9.207 * [backup-simplify]: Simplify 0 into 0 9.207 * [backup-simplify]: Simplify 1 into 1 9.207 * [taylor]: Taking taylor expansion of phi2 in phi1 9.207 * [backup-simplify]: Simplify phi2 into phi2 9.207 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 9.207 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 9.207 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.207 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.208 * [backup-simplify]: Simplify (- 0) into 0 9.208 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.208 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) 9.208 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 9.208 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 9.208 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.208 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.209 * [backup-simplify]: Simplify (- 0) into 0 9.209 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.209 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) 9.210 * [backup-simplify]: Simplify (* (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) (* (cos (* 0.5 phi2)) (- lambda1 lambda2))) into (* (pow (cos (* 0.5 phi2)) 2) (pow (- lambda1 lambda2) 2)) 9.210 * [backup-simplify]: Simplify (- phi2) into (- phi2) 9.210 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2) 9.210 * [backup-simplify]: Simplify (- phi2) into (- phi2) 9.210 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2) 9.210 * [backup-simplify]: Simplify (* (- phi2) (- phi2)) into (pow phi2 2) 9.211 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (- lambda1 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))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 9.212 * [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))))) 9.213 * [backup-simplify]: Simplify (+ 0) into 0 9.213 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 9.214 * [backup-simplify]: Simplify (+ 0 1) into 1 9.214 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 9.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.218 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 9.218 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.218 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.218 * [backup-simplify]: Simplify (- 0) into 0 9.219 * [backup-simplify]: Simplify (+ 0 0) into 0 9.219 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) 9.219 * [backup-simplify]: Simplify (+ 0) into 0 9.220 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 9.220 * [backup-simplify]: Simplify (+ 0 1) into 1 9.221 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 9.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.224 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 9.224 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.224 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.225 * [backup-simplify]: Simplify (- 0) into 0 9.225 * [backup-simplify]: Simplify (+ 0 0) into 0 9.225 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) 9.227 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1)))) (* (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) (* (cos (* 0.5 phi2)) (- lambda1 lambda2)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 9.227 * [backup-simplify]: Simplify (- 0) into 0 9.228 * [backup-simplify]: Simplify (+ 1 0) into 1 9.228 * [backup-simplify]: Simplify (- 0) into 0 9.228 * [backup-simplify]: Simplify (+ 1 0) into 1 9.229 * [backup-simplify]: Simplify (+ (* (- phi2) 1) (* 1 (- phi2))) into (- (* 2 phi2)) 9.230 * [backup-simplify]: Simplify (+ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2 phi2))) 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))))))) 9.233 * [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)))))))) 9.233 * [taylor]: Taking taylor expansion of R in phi1 9.233 * [backup-simplify]: Simplify R into R 9.234 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in phi2 9.234 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in phi2 9.234 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 9.234 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in phi2 9.234 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in phi2 9.234 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi2 9.234 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 9.234 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.234 * [backup-simplify]: Simplify lambda1 into lambda1 9.234 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.234 * [backup-simplify]: Simplify lambda2 into lambda2 9.234 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.234 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.234 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.234 * [backup-simplify]: Simplify 0.5 into 0.5 9.234 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.234 * [taylor]: Taking taylor expansion of phi2 in phi2 9.234 * [backup-simplify]: Simplify 0 into 0 9.234 * [backup-simplify]: Simplify 1 into 1 9.234 * [taylor]: Taking taylor expansion of phi1 in phi2 9.234 * [backup-simplify]: Simplify phi1 into phi1 9.234 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.234 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.234 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.235 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.235 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi2 9.235 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 9.235 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.235 * [backup-simplify]: Simplify lambda1 into lambda1 9.235 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.235 * [backup-simplify]: Simplify lambda2 into lambda2 9.235 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 9.235 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 9.235 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.235 * [backup-simplify]: Simplify 0.5 into 0.5 9.235 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 9.235 * [taylor]: Taking taylor expansion of phi2 in phi2 9.235 * [backup-simplify]: Simplify 0 into 0 9.235 * [backup-simplify]: Simplify 1 into 1 9.235 * [taylor]: Taking taylor expansion of phi1 in phi2 9.235 * [backup-simplify]: Simplify phi1 into phi1 9.235 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 9.235 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.235 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.235 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.235 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi2 9.235 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2 9.235 * [taylor]: Taking taylor expansion of phi1 in phi2 9.235 * [backup-simplify]: Simplify phi1 into phi1 9.235 * [taylor]: Taking taylor expansion of phi2 in phi2 9.235 * [backup-simplify]: Simplify 0 into 0 9.235 * [backup-simplify]: Simplify 1 into 1 9.236 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2 9.236 * [taylor]: Taking taylor expansion of phi1 in phi2 9.236 * [backup-simplify]: Simplify phi1 into phi1 9.236 * [taylor]: Taking taylor expansion of phi2 in phi2 9.236 * [backup-simplify]: Simplify 0 into 0 9.236 * [backup-simplify]: Simplify 1 into 1 9.236 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 9.236 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 9.236 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.236 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.237 * [backup-simplify]: Simplify (- 0) into 0 9.237 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.237 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) 9.237 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 9.237 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 9.237 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.237 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.238 * [backup-simplify]: Simplify (- 0) into 0 9.238 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.238 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) 9.238 * [backup-simplify]: Simplify (* (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) (* (cos (* 0.5 phi1)) (- lambda1 lambda2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow (- lambda1 lambda2) 2)) 9.239 * [backup-simplify]: Simplify (- 0) into 0 9.239 * [backup-simplify]: Simplify (+ phi1 0) into phi1 9.239 * [backup-simplify]: Simplify (- 0) into 0 9.239 * [backup-simplify]: Simplify (+ phi1 0) into phi1 9.239 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.240 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow (- lambda1 lambda2) 2)) (pow phi1 2)) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 9.242 * [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))))) 9.242 * [backup-simplify]: Simplify (+ 0) into 0 9.243 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.243 * [backup-simplify]: Simplify (+ 1 0) into 1 9.244 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.247 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.247 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.247 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.247 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.248 * [backup-simplify]: Simplify (- 0) into 0 9.248 * [backup-simplify]: Simplify (+ 0 0) into 0 9.249 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) 9.249 * [backup-simplify]: Simplify (+ 0) into 0 9.250 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.250 * [backup-simplify]: Simplify (+ 1 0) into 1 9.251 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.254 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.254 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.254 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.254 * [backup-simplify]: Simplify (- 0) into 0 9.255 * [backup-simplify]: Simplify (+ 0 0) into 0 9.255 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) 9.256 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1)))) (* (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) (* (cos (* 0.5 phi1)) (- lambda1 lambda2)))) 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)))))) 9.257 * [backup-simplify]: Simplify (- 1) into -1 9.257 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.258 * [backup-simplify]: Simplify (- 1) into -1 9.258 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.258 * [backup-simplify]: Simplify (+ (* phi1 -1) (* -1 phi1)) into (- (* 2 phi1)) 9.260 * [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))) 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)))) 9.263 * [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)))))))) 9.263 * [taylor]: Taking taylor expansion of R in phi2 9.263 * [backup-simplify]: Simplify R into R 9.263 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in lambda2 9.263 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda2 9.263 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 9.263 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda2 9.264 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda2 9.264 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda2 9.264 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 9.264 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.264 * [backup-simplify]: Simplify lambda1 into lambda1 9.264 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.264 * [backup-simplify]: Simplify 0 into 0 9.264 * [backup-simplify]: Simplify 1 into 1 9.264 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 9.264 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 9.264 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.264 * [backup-simplify]: Simplify 0.5 into 0.5 9.264 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 9.264 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.264 * [backup-simplify]: Simplify phi2 into phi2 9.264 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda2 9.264 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 9.265 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.265 * [backup-simplify]: Simplify lambda1 into lambda1 9.265 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.265 * [backup-simplify]: Simplify 0 into 0 9.265 * [backup-simplify]: Simplify 1 into 1 9.265 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 9.265 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 9.265 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.265 * [backup-simplify]: Simplify 0.5 into 0.5 9.265 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 9.265 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.265 * [backup-simplify]: Simplify phi2 into phi2 9.265 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.265 * [backup-simplify]: Simplify phi1 into phi1 9.265 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.265 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.265 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.265 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.265 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda2 9.265 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2 9.265 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.265 * [backup-simplify]: Simplify phi1 into phi1 9.265 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.265 * [backup-simplify]: Simplify phi2 into phi2 9.265 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2 9.265 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.266 * [backup-simplify]: Simplify phi1 into phi1 9.266 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.266 * [backup-simplify]: Simplify phi2 into phi2 9.266 * [backup-simplify]: Simplify (- 0) into 0 9.266 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 9.266 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.266 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.267 * [backup-simplify]: Simplify (- 0) into 0 9.267 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.267 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi2 phi1)))) into (* (cos (* 0.5 (+ phi2 phi1))) lambda1) 9.268 * [backup-simplify]: Simplify (- 0) into 0 9.268 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 9.268 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.268 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.268 * [backup-simplify]: Simplify (- 0) into 0 9.268 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.269 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi2 phi1)))) into (* (cos (* 0.5 (+ phi2 phi1))) lambda1) 9.269 * [backup-simplify]: Simplify (* (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 9.269 * [backup-simplify]: Simplify (- phi2) into (- phi2) 9.269 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 9.269 * [backup-simplify]: Simplify (- phi2) into (- phi2) 9.269 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 9.269 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 9.270 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1))) 9.271 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))) 9.271 * [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 9.273 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.274 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.274 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.274 * [backup-simplify]: Simplify (- 0) into 0 9.275 * [backup-simplify]: Simplify (+ 0 0) into 0 9.275 * [backup-simplify]: Simplify (- 1) into -1 9.276 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.276 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi2 phi1))))) into (- (cos (* 0.5 (+ phi2 phi1)))) 9.276 * [backup-simplify]: Simplify (+ 0) into 0 9.277 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.277 * [backup-simplify]: Simplify (+ 0 0) into 0 9.278 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.279 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.279 * [backup-simplify]: Simplify (- 0) into 0 9.280 * [backup-simplify]: Simplify (+ 0 0) into 0 9.280 * [backup-simplify]: Simplify (- 1) into -1 9.281 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.281 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi2 phi1))))) into (- (cos (* 0.5 (+ phi2 phi1)))) 9.282 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (- (cos (* 0.5 (+ phi2 phi1))))) (* (- (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 9.282 * [backup-simplify]: Simplify (- 0) into 0 9.283 * [backup-simplify]: Simplify (+ 0 0) into 0 9.283 * [backup-simplify]: Simplify (- 0) into 0 9.284 * [backup-simplify]: Simplify (+ 0 0) into 0 9.284 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 9.284 * [backup-simplify]: Simplify (+ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 0) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 9.286 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1))))))) 9.286 * [taylor]: Taking taylor expansion of R in lambda2 9.286 * [backup-simplify]: Simplify R into R 9.286 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in lambda1 9.286 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda1 9.286 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 9.286 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1 9.286 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda1 9.286 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 9.286 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 9.286 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.286 * [backup-simplify]: Simplify 0 into 0 9.286 * [backup-simplify]: Simplify 1 into 1 9.287 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.287 * [backup-simplify]: Simplify lambda2 into lambda2 9.287 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 9.287 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 9.287 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.287 * [backup-simplify]: Simplify 0.5 into 0.5 9.287 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 9.287 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.287 * [backup-simplify]: Simplify phi2 into phi2 9.287 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.287 * [backup-simplify]: Simplify phi1 into phi1 9.287 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.287 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.287 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.287 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.287 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 9.287 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 9.287 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.287 * [backup-simplify]: Simplify 0 into 0 9.287 * [backup-simplify]: Simplify 1 into 1 9.287 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.287 * [backup-simplify]: Simplify lambda2 into lambda2 9.287 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 9.287 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 9.288 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.288 * [backup-simplify]: Simplify 0.5 into 0.5 9.288 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 9.288 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.288 * [backup-simplify]: Simplify phi2 into phi2 9.288 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.288 * [backup-simplify]: Simplify phi1 into phi1 9.288 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.288 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.288 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.288 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.288 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1 9.288 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 9.288 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.288 * [backup-simplify]: Simplify phi1 into phi1 9.288 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.288 * [backup-simplify]: Simplify phi2 into phi2 9.288 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 9.288 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.288 * [backup-simplify]: Simplify phi1 into phi1 9.288 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.288 * [backup-simplify]: Simplify phi2 into phi2 9.289 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 9.289 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 9.289 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.289 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.289 * [backup-simplify]: Simplify (- 0) into 0 9.290 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.290 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 9.290 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 9.290 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 9.290 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.290 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.290 * [backup-simplify]: Simplify (- 0) into 0 9.291 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.291 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 9.291 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 9.291 * [backup-simplify]: Simplify (- phi2) into (- phi2) 9.291 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 9.291 * [backup-simplify]: Simplify (- phi2) into (- phi2) 9.291 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 9.291 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 9.292 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 9.293 * [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)))) 9.294 * [backup-simplify]: Simplify (+ 0) into 0 9.294 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.295 * [backup-simplify]: Simplify (+ 0 0) into 0 9.295 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.297 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.297 * [backup-simplify]: Simplify (- 0) into 0 9.297 * [backup-simplify]: Simplify (+ 0 0) into 0 9.298 * [backup-simplify]: Simplify (- 0) into 0 9.298 * [backup-simplify]: Simplify (+ 1 0) into 1 9.298 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 9.299 * [backup-simplify]: Simplify (+ 0) into 0 9.299 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.300 * [backup-simplify]: Simplify (+ 0 0) into 0 9.300 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.301 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.302 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.302 * [backup-simplify]: Simplify (- 0) into 0 9.302 * [backup-simplify]: Simplify (+ 0 0) into 0 9.303 * [backup-simplify]: Simplify (- 0) into 0 9.303 * [backup-simplify]: Simplify (+ 1 0) into 1 9.303 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 9.304 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 9.305 * [backup-simplify]: Simplify (- 0) into 0 9.305 * [backup-simplify]: Simplify (+ 0 0) into 0 9.305 * [backup-simplify]: Simplify (- 0) into 0 9.306 * [backup-simplify]: Simplify (+ 0 0) into 0 9.306 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 9.306 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 9.308 * [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)))) 9.308 * [taylor]: Taking taylor expansion of R in lambda1 9.308 * [backup-simplify]: Simplify R into R 9.308 * [taylor]: Taking taylor expansion of (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) in lambda1 9.308 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda1 9.309 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 9.309 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1 9.309 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda1 9.309 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 9.309 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 9.309 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.309 * [backup-simplify]: Simplify 0 into 0 9.309 * [backup-simplify]: Simplify 1 into 1 9.309 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.309 * [backup-simplify]: Simplify lambda2 into lambda2 9.309 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 9.309 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 9.309 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.309 * [backup-simplify]: Simplify 0.5 into 0.5 9.309 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 9.309 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.309 * [backup-simplify]: Simplify phi2 into phi2 9.309 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.309 * [backup-simplify]: Simplify phi1 into phi1 9.309 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.309 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.309 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.309 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.310 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 9.310 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 9.310 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.310 * [backup-simplify]: Simplify 0 into 0 9.310 * [backup-simplify]: Simplify 1 into 1 9.310 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.310 * [backup-simplify]: Simplify lambda2 into lambda2 9.310 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 9.310 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 9.310 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.310 * [backup-simplify]: Simplify 0.5 into 0.5 9.310 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 9.310 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.310 * [backup-simplify]: Simplify phi2 into phi2 9.310 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.310 * [backup-simplify]: Simplify phi1 into phi1 9.310 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.310 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.310 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.310 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.310 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1 9.310 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 9.310 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.310 * [backup-simplify]: Simplify phi1 into phi1 9.311 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.311 * [backup-simplify]: Simplify phi2 into phi2 9.311 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 9.311 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.311 * [backup-simplify]: Simplify phi1 into phi1 9.311 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.311 * [backup-simplify]: Simplify phi2 into phi2 9.311 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 9.311 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 9.311 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.311 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.312 * [backup-simplify]: Simplify (- 0) into 0 9.312 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.312 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 9.312 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 9.312 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 9.312 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.312 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.313 * [backup-simplify]: Simplify (- 0) into 0 9.313 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.313 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 9.313 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 9.314 * [backup-simplify]: Simplify (- phi2) into (- phi2) 9.314 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 9.314 * [backup-simplify]: Simplify (- phi2) into (- phi2) 9.314 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 9.314 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 9.314 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 9.315 * [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)))) 9.316 * [backup-simplify]: Simplify (+ 0) into 0 9.317 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.317 * [backup-simplify]: Simplify (+ 0 0) into 0 9.318 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.319 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.319 * [backup-simplify]: Simplify (- 0) into 0 9.320 * [backup-simplify]: Simplify (+ 0 0) into 0 9.320 * [backup-simplify]: Simplify (- 0) into 0 9.321 * [backup-simplify]: Simplify (+ 1 0) into 1 9.321 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 9.321 * [backup-simplify]: Simplify (+ 0) into 0 9.322 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 9.322 * [backup-simplify]: Simplify (+ 0 0) into 0 9.323 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 9.324 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.324 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 9.325 * [backup-simplify]: Simplify (- 0) into 0 9.325 * [backup-simplify]: Simplify (+ 0 0) into 0 9.325 * [backup-simplify]: Simplify (- 0) into 0 9.326 * [backup-simplify]: Simplify (+ 1 0) into 1 9.326 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 9.327 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 9.327 * [backup-simplify]: Simplify (- 0) into 0 9.328 * [backup-simplify]: Simplify (+ 0 0) into 0 9.328 * [backup-simplify]: Simplify (- 0) into 0 9.329 * [backup-simplify]: Simplify (+ 0 0) into 0 9.329 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 9.329 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 9.331 * [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)))) 9.331 * [taylor]: Taking taylor expansion of R in lambda1 9.331 * [backup-simplify]: Simplify R into R 9.332 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) R) into (* (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) R) 9.332 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) R) in lambda2 9.332 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) in lambda2 9.332 * [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 9.332 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 9.332 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 9.332 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.332 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.332 * [backup-simplify]: Simplify 0 into 0 9.332 * [backup-simplify]: Simplify 1 into 1 9.333 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 9.333 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 9.333 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 9.333 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.333 * [backup-simplify]: Simplify 0.5 into 0.5 9.333 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 9.333 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.333 * [backup-simplify]: Simplify phi2 into phi2 9.333 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.333 * [backup-simplify]: Simplify phi1 into phi1 9.333 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.333 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.333 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.333 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.333 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.333 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.334 * [backup-simplify]: Simplify (- 0) into 0 9.334 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.334 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 9.334 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.334 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.334 * [backup-simplify]: Simplify phi2 into phi2 9.334 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.334 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.334 * [backup-simplify]: Simplify phi1 into phi1 9.334 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 9.334 * [taylor]: Taking taylor expansion of 2 in lambda2 9.335 * [backup-simplify]: Simplify 2 into 2 9.335 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 9.335 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.335 * [backup-simplify]: Simplify phi2 into phi2 9.335 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.335 * [backup-simplify]: Simplify phi1 into phi1 9.335 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.335 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.335 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 9.335 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 9.335 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 9.336 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 9.336 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 9.336 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 9.337 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 9.337 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.337 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.337 * [backup-simplify]: Simplify (+ 0 0) into 0 9.338 * [backup-simplify]: Simplify (+ 0 0) into 0 9.338 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 9.339 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 9.339 * [backup-simplify]: Simplify (- 0) into 0 9.339 * [backup-simplify]: Simplify (+ 0 0) into 0 9.340 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))))) into 0 9.340 * [taylor]: Taking taylor expansion of R in lambda2 9.340 * [backup-simplify]: Simplify R into R 9.341 * [backup-simplify]: Simplify (* (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) R) into (* (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) R) 9.341 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) R) in phi2 9.341 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi2 9.341 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi2 9.341 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi2 9.341 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.341 * [taylor]: Taking taylor expansion of phi1 in phi2 9.341 * [backup-simplify]: Simplify phi1 into phi1 9.341 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.341 * [taylor]: Taking taylor expansion of phi2 in phi2 9.341 * [backup-simplify]: Simplify 0 into 0 9.341 * [backup-simplify]: Simplify 1 into 1 9.341 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 9.341 * [taylor]: Taking taylor expansion of 2 in phi2 9.341 * [backup-simplify]: Simplify 2 into 2 9.341 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 9.341 * [taylor]: Taking taylor expansion of phi2 in phi2 9.341 * [backup-simplify]: Simplify 0 into 0 9.341 * [backup-simplify]: Simplify 1 into 1 9.341 * [taylor]: Taking taylor expansion of phi1 in phi2 9.341 * [backup-simplify]: Simplify phi1 into phi1 9.341 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.341 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 9.341 * [backup-simplify]: Simplify (* 0 phi1) into 0 9.342 * [backup-simplify]: Simplify (* 2 0) into 0 9.342 * [backup-simplify]: Simplify (- 0) into 0 9.343 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 9.343 * [backup-simplify]: Simplify (sqrt (pow phi1 2)) into phi1 9.343 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.343 * [backup-simplify]: Simplify (+ 0 0) into 0 9.344 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 9.344 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 9.344 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 9.344 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi1))) into (- (* 2 phi1)) 9.345 * [backup-simplify]: Simplify (/ (- (* 2 phi1)) (* 2 (sqrt (pow phi1 2)))) into -1 9.345 * [taylor]: Taking taylor expansion of R in phi2 9.345 * [backup-simplify]: Simplify R into R 9.345 * [backup-simplify]: Simplify (* phi1 R) into (* R phi1) 9.345 * [taylor]: Taking taylor expansion of (* R phi1) in phi1 9.345 * [taylor]: Taking taylor expansion of R in phi1 9.345 * [backup-simplify]: Simplify R into R 9.345 * [taylor]: Taking taylor expansion of phi1 in phi1 9.345 * [backup-simplify]: Simplify 0 into 0 9.345 * [backup-simplify]: Simplify 1 into 1 9.345 * [backup-simplify]: Simplify (* R 0) into 0 9.345 * [taylor]: Taking taylor expansion of 0 in R 9.345 * [backup-simplify]: Simplify 0 into 0 9.345 * [backup-simplify]: Simplify 0 into 0 9.348 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) 0) (* (* -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)))) R)) into (- (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R)))) 9.348 * [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))))) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R)))) in lambda2 9.348 * [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))))) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R))) in lambda2 9.348 * [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 9.348 * [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 9.348 * [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 9.348 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 9.348 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 9.348 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.348 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.348 * [backup-simplify]: Simplify 0 into 0 9.348 * [backup-simplify]: Simplify 1 into 1 9.348 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 9.348 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 9.348 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 9.348 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.348 * [backup-simplify]: Simplify 0.5 into 0.5 9.348 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 9.349 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.349 * [backup-simplify]: Simplify phi2 into phi2 9.349 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.349 * [backup-simplify]: Simplify phi1 into phi1 9.349 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.349 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.349 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.349 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.349 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.349 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.354 * [backup-simplify]: Simplify (- 0) into 0 9.354 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.354 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 9.354 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.354 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.354 * [backup-simplify]: Simplify phi2 into phi2 9.354 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.354 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.354 * [backup-simplify]: Simplify phi1 into phi1 9.354 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 9.354 * [taylor]: Taking taylor expansion of 2 in lambda2 9.354 * [backup-simplify]: Simplify 2 into 2 9.355 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 9.355 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.355 * [backup-simplify]: Simplify phi2 into phi2 9.355 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.355 * [backup-simplify]: Simplify phi1 into phi1 9.355 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.355 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.355 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 9.355 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 9.355 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 9.356 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 9.356 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 9.356 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 9.356 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 9.357 * [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))))) 9.357 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.357 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.358 * [backup-simplify]: Simplify (+ 0 0) into 0 9.358 * [backup-simplify]: Simplify (+ 0 0) into 0 9.358 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 9.359 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 9.359 * [backup-simplify]: Simplify (- 0) into 0 9.360 * [backup-simplify]: Simplify (+ 0 0) into 0 9.361 * [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 9.361 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 9.361 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R)) in lambda2 9.361 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.361 * [backup-simplify]: Simplify 0 into 0 9.361 * [backup-simplify]: Simplify 1 into 1 9.361 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R) in lambda2 9.361 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 9.361 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 9.361 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 9.361 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.361 * [backup-simplify]: Simplify 0.5 into 0.5 9.361 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 9.361 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.362 * [backup-simplify]: Simplify phi2 into phi2 9.362 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.362 * [backup-simplify]: Simplify phi1 into phi1 9.362 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 9.362 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 9.362 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 9.362 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 9.362 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 9.362 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 9.363 * [backup-simplify]: Simplify (- 0) into 0 9.363 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 9.363 * [taylor]: Taking taylor expansion of R in lambda2 9.363 * [backup-simplify]: Simplify R into R 9.363 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 9.363 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R) 9.364 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) R)) into 0 9.364 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) 0) into 0 9.365 * [backup-simplify]: Simplify (- 0) into 0 9.365 * [taylor]: Taking taylor expansion of 0 in phi2 9.365 * [backup-simplify]: Simplify 0 into 0 9.365 * [taylor]: Taking taylor expansion of 0 in phi1 9.365 * [backup-simplify]: Simplify 0 into 0 9.365 * [taylor]: Taking taylor expansion of 0 in R 9.365 * [backup-simplify]: Simplify 0 into 0 9.365 * [backup-simplify]: Simplify 0 into 0 9.365 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 0) (* 0 R)) into 0 9.365 * [taylor]: Taking taylor expansion of 0 in phi2 9.365 * [backup-simplify]: Simplify 0 into 0 9.365 * [taylor]: Taking taylor expansion of 0 in phi1 9.365 * [backup-simplify]: Simplify 0 into 0 9.366 * [taylor]: Taking taylor expansion of 0 in R 9.366 * [backup-simplify]: Simplify 0 into 0 9.366 * [backup-simplify]: Simplify 0 into 0 9.366 * [backup-simplify]: Simplify (+ (* phi1 0) (* -1 R)) into (- R) 9.366 * [taylor]: Taking taylor expansion of (- R) in phi1 9.366 * [taylor]: Taking taylor expansion of R in phi1 9.366 * [backup-simplify]: Simplify R into R 9.366 * [backup-simplify]: Simplify (- R) into (- R) 9.366 * [taylor]: Taking taylor expansion of (- R) in R 9.366 * [taylor]: Taking taylor expansion of R in R 9.366 * [backup-simplify]: Simplify 0 into 0 9.366 * [backup-simplify]: Simplify 1 into 1 9.366 * [backup-simplify]: Simplify (- 0) into 0 9.366 * [backup-simplify]: Simplify 0 into 0 9.367 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 9.367 * [taylor]: Taking taylor expansion of R in R 9.367 * [backup-simplify]: Simplify 0 into 0 9.367 * [backup-simplify]: Simplify 1 into 1 9.367 * [backup-simplify]: Simplify 0 into 0 9.367 * [backup-simplify]: Simplify 0 into 0 9.367 * [backup-simplify]: Simplify 0 into 0 9.368 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1))))) (- (/ 1 phi1) (/ 1 phi2))) (/ 1 R)) into (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) 9.368 * [approximate]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in (lambda1 lambda2 phi2 phi1 R) around 0 9.368 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in R 9.368 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in R 9.368 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 9.368 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in R 9.368 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R 9.368 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R 9.368 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R 9.368 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 9.368 * [taylor]: Taking taylor expansion of lambda1 in R 9.368 * [backup-simplify]: Simplify lambda1 into lambda1 9.368 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.368 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 9.368 * [taylor]: Taking taylor expansion of lambda2 in R 9.368 * [backup-simplify]: Simplify lambda2 into lambda2 9.368 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.369 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 9.369 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 9.369 * [taylor]: Taking taylor expansion of 0.5 in R 9.369 * [backup-simplify]: Simplify 0.5 into 0.5 9.369 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 9.369 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.369 * [taylor]: Taking taylor expansion of phi1 in R 9.369 * [backup-simplify]: Simplify phi1 into phi1 9.369 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.369 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.369 * [taylor]: Taking taylor expansion of phi2 in R 9.369 * [backup-simplify]: Simplify phi2 into phi2 9.369 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.369 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.369 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.369 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.370 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.370 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R 9.370 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R 9.370 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 9.370 * [taylor]: Taking taylor expansion of lambda1 in R 9.370 * [backup-simplify]: Simplify lambda1 into lambda1 9.370 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.370 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 9.370 * [taylor]: Taking taylor expansion of lambda2 in R 9.370 * [backup-simplify]: Simplify lambda2 into lambda2 9.370 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.370 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 9.370 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 9.370 * [taylor]: Taking taylor expansion of 0.5 in R 9.370 * [backup-simplify]: Simplify 0.5 into 0.5 9.370 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 9.370 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.370 * [taylor]: Taking taylor expansion of phi1 in R 9.370 * [backup-simplify]: Simplify phi1 into phi1 9.370 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.370 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.370 * [taylor]: Taking taylor expansion of phi2 in R 9.370 * [backup-simplify]: Simplify phi2 into phi2 9.370 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.371 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.371 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.371 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.371 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.371 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in R 9.371 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R 9.371 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.371 * [taylor]: Taking taylor expansion of phi1 in R 9.371 * [backup-simplify]: Simplify phi1 into phi1 9.371 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.371 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.371 * [taylor]: Taking taylor expansion of phi2 in R 9.371 * [backup-simplify]: Simplify phi2 into phi2 9.371 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.371 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R 9.371 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.371 * [taylor]: Taking taylor expansion of phi1 in R 9.371 * [backup-simplify]: Simplify phi1 into phi1 9.372 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.372 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.372 * [taylor]: Taking taylor expansion of phi2 in R 9.372 * [backup-simplify]: Simplify phi2 into phi2 9.372 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.372 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 9.372 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 9.372 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.372 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.373 * [backup-simplify]: Simplify (- 0) into 0 9.373 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.373 * [backup-simplify]: Simplify (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.373 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 9.374 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 9.374 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.374 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.374 * [backup-simplify]: Simplify (- 0) into 0 9.375 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.375 * [backup-simplify]: Simplify (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.376 * [backup-simplify]: Simplify (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 9.376 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 9.376 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 9.376 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 9.376 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 9.376 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2) 9.377 * [backup-simplify]: Simplify (+ (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ (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))))) 9.380 * [backup-simplify]: Simplify (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)))))) 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)))))) 9.380 * [backup-simplify]: Simplify (+ 0) into 0 9.381 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.381 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.381 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.381 * [backup-simplify]: Simplify (+ 0 0) into 0 9.382 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.383 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.384 * [backup-simplify]: Simplify (- 0) into 0 9.384 * [backup-simplify]: Simplify (+ 0 0) into 0 9.384 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 9.384 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 9.385 * [backup-simplify]: Simplify (- 0) into 0 9.385 * [backup-simplify]: Simplify (+ 0 0) into 0 9.385 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda1) (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.386 * [backup-simplify]: Simplify (+ 0) into 0 9.387 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.387 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.387 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.387 * [backup-simplify]: Simplify (+ 0 0) into 0 9.388 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.389 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.389 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.390 * [backup-simplify]: Simplify (- 0) into 0 9.390 * [backup-simplify]: Simplify (+ 0 0) into 0 9.390 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 9.390 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 9.391 * [backup-simplify]: Simplify (- 0) into 0 9.391 * [backup-simplify]: Simplify (+ 0 0) into 0 9.391 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda1) (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.392 * [backup-simplify]: Simplify (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (* 0 (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.392 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.392 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.393 * [backup-simplify]: Simplify (- 0) into 0 9.393 * [backup-simplify]: Simplify (+ 0 0) into 0 9.393 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.393 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.394 * [backup-simplify]: Simplify (- 0) into 0 9.394 * [backup-simplify]: Simplify (+ 0 0) into 0 9.394 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0 9.395 * [backup-simplify]: Simplify (+ 0 0) into 0 9.397 * [backup-simplify]: Simplify (/ 0 (* 2 (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)))))))) into 0 9.397 * [taylor]: Taking taylor expansion of R in R 9.397 * [backup-simplify]: Simplify 0 into 0 9.397 * [backup-simplify]: Simplify 1 into 1 9.400 * [backup-simplify]: Simplify (/ (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)))))) 1) 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)))))) 9.400 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi1 9.400 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in phi1 9.400 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 9.400 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi1 9.400 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 9.400 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.400 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 9.400 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 9.400 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.400 * [backup-simplify]: Simplify lambda1 into lambda1 9.400 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.400 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 9.400 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.400 * [backup-simplify]: Simplify lambda2 into lambda2 9.400 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.400 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.400 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.400 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.400 * [backup-simplify]: Simplify 0.5 into 0.5 9.400 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.401 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.401 * [taylor]: Taking taylor expansion of phi1 in phi1 9.401 * [backup-simplify]: Simplify 0 into 0 9.401 * [backup-simplify]: Simplify 1 into 1 9.401 * [backup-simplify]: Simplify (/ 1 1) into 1 9.401 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.401 * [taylor]: Taking taylor expansion of phi2 in phi1 9.401 * [backup-simplify]: Simplify phi2 into phi2 9.401 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.402 * [backup-simplify]: Simplify (+ 1 0) into 1 9.402 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.402 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.402 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.402 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 9.402 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 9.402 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.402 * [backup-simplify]: Simplify lambda1 into lambda1 9.402 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.403 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 9.403 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.403 * [backup-simplify]: Simplify lambda2 into lambda2 9.403 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.403 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.403 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.403 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.403 * [backup-simplify]: Simplify 0.5 into 0.5 9.403 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.403 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.403 * [taylor]: Taking taylor expansion of phi1 in phi1 9.403 * [backup-simplify]: Simplify 0 into 0 9.403 * [backup-simplify]: Simplify 1 into 1 9.403 * [backup-simplify]: Simplify (/ 1 1) into 1 9.403 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.403 * [taylor]: Taking taylor expansion of phi2 in phi1 9.403 * [backup-simplify]: Simplify phi2 into phi2 9.403 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.404 * [backup-simplify]: Simplify (+ 1 0) into 1 9.404 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.404 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.405 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi1 9.405 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1 9.405 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.405 * [taylor]: Taking taylor expansion of phi1 in phi1 9.405 * [backup-simplify]: Simplify 0 into 0 9.405 * [backup-simplify]: Simplify 1 into 1 9.405 * [backup-simplify]: Simplify (/ 1 1) into 1 9.405 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.405 * [taylor]: Taking taylor expansion of phi2 in phi1 9.405 * [backup-simplify]: Simplify phi2 into phi2 9.406 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.406 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1 9.406 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.406 * [taylor]: Taking taylor expansion of phi1 in phi1 9.406 * [backup-simplify]: Simplify 0 into 0 9.406 * [backup-simplify]: Simplify 1 into 1 9.406 * [backup-simplify]: Simplify (/ 1 1) into 1 9.406 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.406 * [taylor]: Taking taylor expansion of phi2 in phi1 9.406 * [backup-simplify]: Simplify phi2 into phi2 9.406 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.407 * [backup-simplify]: Simplify (+ 1 0) into 1 9.407 * [backup-simplify]: Simplify (+ 1 0) into 1 9.407 * [backup-simplify]: Simplify (* 1 1) into 1 9.408 * [backup-simplify]: Simplify (+ 0 1) into 1 9.408 * [backup-simplify]: Simplify (sqrt 1) into 1 9.409 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.409 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 9.409 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2)) 9.410 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.410 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 9.410 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2)) 9.410 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi2))) (* (- (/ 1 phi2)) 1)) into (- (* 2 (/ 1 phi2))) 9.411 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 9.411 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 9.411 * [taylor]: Taking taylor expansion of R in phi1 9.411 * [backup-simplify]: Simplify R into R 9.411 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 9.411 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi2 9.411 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in phi2 9.412 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 9.412 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi2 9.412 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 9.412 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 9.412 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 9.412 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 9.412 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.412 * [backup-simplify]: Simplify lambda1 into lambda1 9.412 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.412 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 9.412 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.412 * [backup-simplify]: Simplify lambda2 into lambda2 9.412 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.412 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.412 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.412 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.412 * [backup-simplify]: Simplify 0.5 into 0.5 9.412 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.412 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.412 * [taylor]: Taking taylor expansion of phi1 in phi2 9.412 * [backup-simplify]: Simplify phi1 into phi1 9.412 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.412 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.412 * [taylor]: Taking taylor expansion of phi2 in phi2 9.412 * [backup-simplify]: Simplify 0 into 0 9.412 * [backup-simplify]: Simplify 1 into 1 9.413 * [backup-simplify]: Simplify (/ 1 1) into 1 9.413 * [backup-simplify]: Simplify (+ 0 1) into 1 9.414 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.414 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.414 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 9.414 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 9.414 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 9.414 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.414 * [backup-simplify]: Simplify lambda1 into lambda1 9.414 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.414 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 9.414 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.414 * [backup-simplify]: Simplify lambda2 into lambda2 9.414 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.414 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.414 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.414 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.414 * [backup-simplify]: Simplify 0.5 into 0.5 9.414 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.414 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.414 * [taylor]: Taking taylor expansion of phi1 in phi2 9.415 * [backup-simplify]: Simplify phi1 into phi1 9.415 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.415 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.415 * [taylor]: Taking taylor expansion of phi2 in phi2 9.415 * [backup-simplify]: Simplify 0 into 0 9.415 * [backup-simplify]: Simplify 1 into 1 9.415 * [backup-simplify]: Simplify (/ 1 1) into 1 9.416 * [backup-simplify]: Simplify (+ 0 1) into 1 9.416 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.416 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.416 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi2 9.416 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2 9.416 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.416 * [taylor]: Taking taylor expansion of phi1 in phi2 9.416 * [backup-simplify]: Simplify phi1 into phi1 9.416 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.417 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.417 * [taylor]: Taking taylor expansion of phi2 in phi2 9.417 * [backup-simplify]: Simplify 0 into 0 9.417 * [backup-simplify]: Simplify 1 into 1 9.417 * [backup-simplify]: Simplify (/ 1 1) into 1 9.417 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2 9.417 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.417 * [taylor]: Taking taylor expansion of phi1 in phi2 9.417 * [backup-simplify]: Simplify phi1 into phi1 9.417 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.417 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.417 * [taylor]: Taking taylor expansion of phi2 in phi2 9.417 * [backup-simplify]: Simplify 0 into 0 9.417 * [backup-simplify]: Simplify 1 into 1 9.418 * [backup-simplify]: Simplify (/ 1 1) into 1 9.418 * [backup-simplify]: Simplify (- 1) into -1 9.418 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.419 * [backup-simplify]: Simplify (- 1) into -1 9.419 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.420 * [backup-simplify]: Simplify (* -1 -1) into 1 9.420 * [backup-simplify]: Simplify (+ 0 1) into 1 9.421 * [backup-simplify]: Simplify (sqrt 1) into 1 9.421 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.422 * [backup-simplify]: Simplify (- 0) into 0 9.422 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1) 9.423 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.423 * [backup-simplify]: Simplify (- 0) into 0 9.423 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1) 9.423 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi1)) (* (/ 1 phi1) -1)) into (- (* 2 (/ 1 phi1))) 9.424 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 9.424 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 9.424 * [taylor]: Taking taylor expansion of R in phi2 9.424 * [backup-simplify]: Simplify R into R 9.424 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 9.424 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda2 9.424 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda2 9.425 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 9.425 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.425 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 9.425 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.425 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 9.425 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 9.425 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.425 * [backup-simplify]: Simplify lambda1 into lambda1 9.425 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.425 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 9.425 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.425 * [backup-simplify]: Simplify 0 into 0 9.425 * [backup-simplify]: Simplify 1 into 1 9.425 * [backup-simplify]: Simplify (/ 1 1) into 1 9.426 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.426 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.426 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.426 * [backup-simplify]: Simplify 0.5 into 0.5 9.426 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.426 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.426 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.426 * [backup-simplify]: Simplify phi1 into phi1 9.426 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.426 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.426 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.426 * [backup-simplify]: Simplify phi2 into phi2 9.426 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.426 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.426 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.426 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.427 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.427 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.427 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 9.427 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 9.427 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.427 * [backup-simplify]: Simplify lambda1 into lambda1 9.427 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.427 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 9.427 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.427 * [backup-simplify]: Simplify 0 into 0 9.427 * [backup-simplify]: Simplify 1 into 1 9.427 * [backup-simplify]: Simplify (/ 1 1) into 1 9.427 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.427 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.427 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.427 * [backup-simplify]: Simplify 0.5 into 0.5 9.428 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.428 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.428 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.428 * [backup-simplify]: Simplify phi1 into phi1 9.428 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.428 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.428 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.428 * [backup-simplify]: Simplify phi2 into phi2 9.428 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.428 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.428 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.428 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.428 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.428 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda2 9.428 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2 9.429 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.429 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.429 * [backup-simplify]: Simplify phi1 into phi1 9.429 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.429 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.429 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.429 * [backup-simplify]: Simplify phi2 into phi2 9.429 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.429 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2 9.429 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.429 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.429 * [backup-simplify]: Simplify phi1 into phi1 9.429 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.429 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.429 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.429 * [backup-simplify]: Simplify phi2 into phi2 9.429 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.430 * [backup-simplify]: Simplify (- 1) into -1 9.430 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.430 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.430 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.431 * [backup-simplify]: Simplify (- 0) into 0 9.431 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.431 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.431 * [backup-simplify]: Simplify (- 1) into -1 9.432 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.432 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.432 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.433 * [backup-simplify]: Simplify (- 0) into 0 9.433 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.433 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.433 * [backup-simplify]: Simplify (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.434 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.434 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.435 * [backup-simplify]: Simplify (+ 0) into 0 9.435 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.435 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.435 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.436 * [backup-simplify]: Simplify (+ 0 0) into 0 9.436 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.438 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.438 * [backup-simplify]: Simplify (- 0) into 0 9.439 * [backup-simplify]: Simplify (+ 0 0) into 0 9.439 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.440 * [backup-simplify]: Simplify (- 0) into 0 9.440 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 9.441 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda1) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 9.441 * [backup-simplify]: Simplify (+ 0) into 0 9.442 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.442 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.442 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.442 * [backup-simplify]: Simplify (+ 0 0) into 0 9.443 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.444 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.444 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.445 * [backup-simplify]: Simplify (- 0) into 0 9.445 * [backup-simplify]: Simplify (+ 0 0) into 0 9.446 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.446 * [backup-simplify]: Simplify (- 0) into 0 9.446 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 9.447 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda1) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 9.448 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 9.449 * [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))) 9.450 * [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)) 9.450 * [taylor]: Taking taylor expansion of R in lambda2 9.450 * [backup-simplify]: Simplify R into R 9.450 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.450 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1 9.450 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 9.451 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 9.451 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.451 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 9.451 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.451 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 9.451 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 9.451 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.451 * [backup-simplify]: Simplify 0 into 0 9.451 * [backup-simplify]: Simplify 1 into 1 9.451 * [backup-simplify]: Simplify (/ 1 1) into 1 9.451 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.451 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.452 * [backup-simplify]: Simplify lambda2 into lambda2 9.452 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.452 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.452 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.452 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.452 * [backup-simplify]: Simplify 0.5 into 0.5 9.452 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.452 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.452 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.452 * [backup-simplify]: Simplify phi1 into phi1 9.452 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.452 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.452 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.452 * [backup-simplify]: Simplify phi2 into phi2 9.452 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.452 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.452 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.453 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.453 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.453 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.453 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 9.453 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 9.453 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.453 * [backup-simplify]: Simplify 0 into 0 9.453 * [backup-simplify]: Simplify 1 into 1 9.453 * [backup-simplify]: Simplify (/ 1 1) into 1 9.453 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.454 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.454 * [backup-simplify]: Simplify lambda2 into lambda2 9.454 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.454 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.454 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.454 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.454 * [backup-simplify]: Simplify 0.5 into 0.5 9.454 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.454 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.454 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.454 * [backup-simplify]: Simplify phi1 into phi1 9.454 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.454 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.454 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.454 * [backup-simplify]: Simplify phi2 into phi2 9.454 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.454 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.454 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.455 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.455 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.455 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 9.455 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 9.455 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.455 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.455 * [backup-simplify]: Simplify phi1 into phi1 9.455 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.455 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.455 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.455 * [backup-simplify]: Simplify phi2 into phi2 9.455 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.455 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 9.455 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.455 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.455 * [backup-simplify]: Simplify phi1 into phi1 9.455 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.455 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.455 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.455 * [backup-simplify]: Simplify phi2 into phi2 9.456 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.456 * [backup-simplify]: Simplify (+ 1 0) into 1 9.456 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.457 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.457 * [backup-simplify]: Simplify (- 0) into 0 9.457 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.457 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.458 * [backup-simplify]: Simplify (+ 1 0) into 1 9.458 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.458 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.459 * [backup-simplify]: Simplify (- 0) into 0 9.459 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.459 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.460 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.460 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.460 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.461 * [backup-simplify]: Simplify (+ 0) into 0 9.461 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.462 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.462 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.462 * [backup-simplify]: Simplify (+ 0 0) into 0 9.463 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.464 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.464 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.465 * [backup-simplify]: Simplify (- 0) into 0 9.465 * [backup-simplify]: Simplify (+ 0 0) into 0 9.466 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.466 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 9.466 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 9.467 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 9.467 * [backup-simplify]: Simplify (+ 0) into 0 9.468 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.468 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.468 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.469 * [backup-simplify]: Simplify (+ 0 0) into 0 9.469 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.470 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.471 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.471 * [backup-simplify]: Simplify (- 0) into 0 9.472 * [backup-simplify]: Simplify (+ 0 0) into 0 9.472 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.473 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 9.473 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 9.473 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 9.475 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.475 * [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))) 9.476 * [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)) 9.476 * [taylor]: Taking taylor expansion of R in lambda1 9.476 * [backup-simplify]: Simplify R into R 9.477 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.477 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1 9.477 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 9.477 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 9.477 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.477 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 9.477 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.477 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 9.477 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 9.477 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.477 * [backup-simplify]: Simplify 0 into 0 9.478 * [backup-simplify]: Simplify 1 into 1 9.478 * [backup-simplify]: Simplify (/ 1 1) into 1 9.478 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.478 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.478 * [backup-simplify]: Simplify lambda2 into lambda2 9.478 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.478 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.478 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.478 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.478 * [backup-simplify]: Simplify 0.5 into 0.5 9.478 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.479 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.479 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.479 * [backup-simplify]: Simplify phi1 into phi1 9.479 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.479 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.479 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.479 * [backup-simplify]: Simplify phi2 into phi2 9.479 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.479 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.479 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.479 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.479 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.480 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.480 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 9.480 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 9.480 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.480 * [backup-simplify]: Simplify 0 into 0 9.480 * [backup-simplify]: Simplify 1 into 1 9.480 * [backup-simplify]: Simplify (/ 1 1) into 1 9.480 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.480 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.480 * [backup-simplify]: Simplify lambda2 into lambda2 9.480 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.480 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.480 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.480 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.480 * [backup-simplify]: Simplify 0.5 into 0.5 9.480 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.481 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.481 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.481 * [backup-simplify]: Simplify phi1 into phi1 9.481 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.481 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.481 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.481 * [backup-simplify]: Simplify phi2 into phi2 9.481 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.481 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.481 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.481 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.481 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.481 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 9.482 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 9.482 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.482 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.482 * [backup-simplify]: Simplify phi1 into phi1 9.482 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.482 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.482 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.482 * [backup-simplify]: Simplify phi2 into phi2 9.482 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.482 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 9.482 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.482 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.482 * [backup-simplify]: Simplify phi1 into phi1 9.482 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.482 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.482 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.482 * [backup-simplify]: Simplify phi2 into phi2 9.482 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.483 * [backup-simplify]: Simplify (+ 1 0) into 1 9.483 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.483 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.484 * [backup-simplify]: Simplify (- 0) into 0 9.484 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.484 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.485 * [backup-simplify]: Simplify (+ 1 0) into 1 9.485 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.485 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.486 * [backup-simplify]: Simplify (- 0) into 0 9.486 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.486 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.486 * [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) 9.487 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.487 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.488 * [backup-simplify]: Simplify (+ 0) into 0 9.488 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.488 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.489 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.489 * [backup-simplify]: Simplify (+ 0 0) into 0 9.490 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.491 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.492 * [backup-simplify]: Simplify (- 0) into 0 9.492 * [backup-simplify]: Simplify (+ 0 0) into 0 9.493 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.493 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 9.493 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 9.494 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 9.494 * [backup-simplify]: Simplify (+ 0) into 0 9.495 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.495 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.495 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.496 * [backup-simplify]: Simplify (+ 0 0) into 0 9.496 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.498 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.498 * [backup-simplify]: Simplify (- 0) into 0 9.498 * [backup-simplify]: Simplify (+ 0 0) into 0 9.499 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.499 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 9.499 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 9.500 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 9.501 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.502 * [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))) 9.503 * [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)) 9.503 * [taylor]: Taking taylor expansion of R in lambda1 9.503 * [backup-simplify]: Simplify R into R 9.503 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.503 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 9.503 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.503 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.503 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.503 * [backup-simplify]: Simplify 0.5 into 0.5 9.503 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.503 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.504 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.504 * [backup-simplify]: Simplify phi1 into phi1 9.504 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.504 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.504 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.504 * [backup-simplify]: Simplify phi2 into phi2 9.504 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.504 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.504 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.504 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.505 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.505 * [taylor]: Taking taylor expansion of R in lambda2 9.505 * [backup-simplify]: Simplify R into R 9.505 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.505 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.506 * [backup-simplify]: Simplify (- 0) into 0 9.506 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.506 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.507 * [backup-simplify]: Simplify (- (/ (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) 9.507 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) in lambda2 9.507 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) in lambda2 9.507 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.507 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.507 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.507 * [backup-simplify]: Simplify 0.5 into 0.5 9.507 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.507 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.507 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.507 * [backup-simplify]: Simplify phi1 into phi1 9.507 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.507 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.507 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.507 * [backup-simplify]: Simplify phi2 into phi2 9.508 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.508 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.508 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.508 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.508 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.508 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2 9.508 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.508 * [backup-simplify]: Simplify 0 into 0 9.508 * [backup-simplify]: Simplify 1 into 1 9.508 * [taylor]: Taking taylor expansion of R in lambda2 9.508 * [backup-simplify]: Simplify R into R 9.509 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.509 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.509 * [backup-simplify]: Simplify (- 0) into 0 9.510 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.510 * [backup-simplify]: Simplify (* 0 R) into 0 9.510 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 9.511 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.511 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.511 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 9.511 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 9.511 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.511 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.511 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.511 * [backup-simplify]: Simplify 0.5 into 0.5 9.511 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.511 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.511 * [taylor]: Taking taylor expansion of phi1 in phi2 9.511 * [backup-simplify]: Simplify phi1 into phi1 9.511 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.511 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.511 * [taylor]: Taking taylor expansion of phi2 in phi2 9.511 * [backup-simplify]: Simplify 0 into 0 9.511 * [backup-simplify]: Simplify 1 into 1 9.512 * [backup-simplify]: Simplify (/ 1 1) into 1 9.512 * [backup-simplify]: Simplify (+ 0 1) into 1 9.513 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.513 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.513 * [taylor]: Taking taylor expansion of R in phi2 9.513 * [backup-simplify]: Simplify R into R 9.513 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.513 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 9.513 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.513 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.514 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.514 * [backup-simplify]: Simplify 0.5 into 0.5 9.514 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.514 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.514 * [taylor]: Taking taylor expansion of phi1 in phi2 9.514 * [backup-simplify]: Simplify phi1 into phi1 9.514 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.514 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.514 * [taylor]: Taking taylor expansion of phi2 in phi2 9.514 * [backup-simplify]: Simplify 0 into 0 9.514 * [backup-simplify]: Simplify 1 into 1 9.514 * [backup-simplify]: Simplify (/ 1 1) into 1 9.515 * [backup-simplify]: Simplify (+ 0 1) into 1 9.515 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.515 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.515 * [taylor]: Taking taylor expansion of R in phi2 9.515 * [backup-simplify]: Simplify R into R 9.516 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.517 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.518 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.518 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.518 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.518 * [backup-simplify]: Simplify (+ 0 0) into 0 9.519 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.520 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.521 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.522 * [backup-simplify]: Simplify (- 0) into 0 9.522 * [backup-simplify]: Simplify (+ 0 0) into 0 9.523 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.523 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 9.523 * [backup-simplify]: Simplify (- 0) into 0 9.524 * [backup-simplify]: Simplify (+ 0 0) into 0 9.525 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.525 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.530 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.531 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.531 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.532 * [backup-simplify]: Simplify (+ 0 0) into 0 9.533 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.533 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.534 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.534 * [backup-simplify]: Simplify (- 0) into 0 9.535 * [backup-simplify]: Simplify (+ 0 0) into 0 9.536 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.536 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 9.536 * [backup-simplify]: Simplify (- 0) into 0 9.537 * [backup-simplify]: Simplify (+ 0 0) into 0 9.537 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.539 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 9.539 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 9.539 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 9.539 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 9.539 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 9.539 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2) 9.540 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) 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)))) 9.543 * [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)))))) 9.544 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) 9.544 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2 9.544 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2 9.545 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2 9.545 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.545 * [backup-simplify]: Simplify 1/2 into 1/2 9.545 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2 9.545 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 9.545 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.545 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.545 * [backup-simplify]: Simplify phi2 into phi2 9.545 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.545 * [taylor]: Taking taylor expansion of R in lambda2 9.545 * [backup-simplify]: Simplify R into R 9.545 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.545 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.545 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.545 * [backup-simplify]: Simplify 0.5 into 0.5 9.545 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.545 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.545 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.545 * [backup-simplify]: Simplify phi1 into phi1 9.545 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.545 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.545 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.545 * [backup-simplify]: Simplify phi2 into phi2 9.545 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.546 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.546 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.546 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.546 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.546 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.546 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.547 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.547 * [backup-simplify]: Simplify (- 0) into 0 9.547 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.548 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.548 * [backup-simplify]: Simplify (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.548 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 9.548 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2 9.549 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.549 * [backup-simplify]: Simplify 1/2 into 1/2 9.549 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2 9.549 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 9.549 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.549 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.549 * [backup-simplify]: Simplify phi1 into phi1 9.549 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.549 * [taylor]: Taking taylor expansion of R in lambda2 9.549 * [backup-simplify]: Simplify R into R 9.549 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.549 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.549 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.549 * [backup-simplify]: Simplify 0.5 into 0.5 9.549 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.549 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.549 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.549 * [backup-simplify]: Simplify phi1 into phi1 9.549 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.549 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.549 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.549 * [backup-simplify]: Simplify phi2 into phi2 9.549 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.549 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.550 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.550 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.550 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.550 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.550 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.550 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.551 * [backup-simplify]: Simplify (- 0) into 0 9.551 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.551 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.552 * [backup-simplify]: Simplify (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi1 2))) 9.552 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi1 2)))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))) 9.552 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2 9.552 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2 9.553 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.553 * [backup-simplify]: Simplify phi2 into phi2 9.553 * [taylor]: Taking taylor expansion of (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 9.553 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.553 * [backup-simplify]: Simplify phi1 into phi1 9.553 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.553 * [taylor]: Taking taylor expansion of R in lambda2 9.553 * [backup-simplify]: Simplify R into R 9.553 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.553 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.553 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.553 * [backup-simplify]: Simplify 0.5 into 0.5 9.553 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.553 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.553 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.553 * [backup-simplify]: Simplify phi1 into phi1 9.553 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.553 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.553 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.553 * [backup-simplify]: Simplify phi2 into phi2 9.553 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.553 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.554 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.554 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.554 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.554 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.554 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.555 * [backup-simplify]: Simplify (- 0) into 0 9.555 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.555 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.556 * [backup-simplify]: Simplify (* phi1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)) 9.556 * [backup-simplify]: Simplify (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))) into (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R))) 9.556 * [backup-simplify]: Simplify (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R)))) into (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 9.557 * [backup-simplify]: Simplify (+ 0) into 0 9.557 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.558 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.558 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.558 * [backup-simplify]: Simplify (+ 0 0) into 0 9.559 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.561 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.561 * [backup-simplify]: Simplify (- 0) into 0 9.562 * [backup-simplify]: Simplify (+ 0 0) into 0 9.563 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0 9.563 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 9.563 * [backup-simplify]: Simplify (- 0) into 0 9.563 * [taylor]: Taking taylor expansion of 0 in phi2 9.564 * [backup-simplify]: Simplify 0 into 0 9.564 * [backup-simplify]: Simplify (+ 0) into 0 9.565 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.565 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.565 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.565 * [backup-simplify]: Simplify (+ 0 0) into 0 9.566 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.567 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.568 * [backup-simplify]: Simplify (- 0) into 0 9.568 * [backup-simplify]: Simplify (+ 0 0) into 0 9.569 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 9.569 * [taylor]: Taking taylor expansion of 0 in phi2 9.569 * [backup-simplify]: Simplify 0 into 0 9.569 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.569 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1 9.569 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 9.569 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.569 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.569 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.569 * [backup-simplify]: Simplify 0.5 into 0.5 9.569 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.569 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.569 * [taylor]: Taking taylor expansion of phi1 in phi1 9.569 * [backup-simplify]: Simplify 0 into 0 9.569 * [backup-simplify]: Simplify 1 into 1 9.570 * [backup-simplify]: Simplify (/ 1 1) into 1 9.570 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.570 * [taylor]: Taking taylor expansion of phi2 in phi1 9.570 * [backup-simplify]: Simplify phi2 into phi2 9.570 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.571 * [backup-simplify]: Simplify (+ 1 0) into 1 9.571 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.571 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.571 * [taylor]: Taking taylor expansion of R in phi1 9.571 * [backup-simplify]: Simplify R into R 9.572 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.572 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 9.572 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.572 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 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 (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.572 * [taylor]: Taking taylor expansion of (/ 1 phi1) 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 * [backup-simplify]: Simplify (/ 1 1) into 1 9.572 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.573 * [taylor]: Taking taylor expansion of phi2 in phi1 9.573 * [backup-simplify]: Simplify phi2 into phi2 9.573 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.573 * [backup-simplify]: Simplify (+ 1 0) into 1 9.574 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.574 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.574 * [taylor]: Taking taylor expansion of R in phi1 9.574 * [backup-simplify]: Simplify R into R 9.574 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.575 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 9.577 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 9.577 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.577 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.577 * [backup-simplify]: Simplify (+ 0 0) into 0 9.579 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.581 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 9.581 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 9.582 * [backup-simplify]: Simplify (- 0) into 0 9.582 * [backup-simplify]: Simplify (+ 0 0) into 0 9.583 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.583 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 9.584 * [backup-simplify]: Simplify (- 0) into 0 9.584 * [backup-simplify]: Simplify (+ 0 0) into 0 9.585 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 9.586 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 9.587 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 9.587 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.588 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.588 * [backup-simplify]: Simplify (+ 0 0) into 0 9.589 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.591 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 9.592 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 9.592 * [backup-simplify]: Simplify (- 0) into 0 9.593 * [backup-simplify]: Simplify (+ 0 0) into 0 9.594 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.594 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 9.594 * [backup-simplify]: Simplify (- 0) into 0 9.595 * [backup-simplify]: Simplify (+ 0 0) into 0 9.596 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 9.597 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0) (+ (* 0 (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 9.597 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.597 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.598 * [backup-simplify]: Simplify (- 0) into 0 9.598 * [backup-simplify]: Simplify (+ 0 0) into 0 9.598 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.598 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.599 * [backup-simplify]: Simplify (- 0) into 0 9.599 * [backup-simplify]: Simplify (+ 0 0) into 0 9.599 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0 9.600 * [backup-simplify]: Simplify (+ 0 0) into 0 9.601 * [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)))))) 9.605 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)) (* (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))))) (/ 1 (* phi2 (* phi1 (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) 9.605 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))))) (/ 1 (* phi2 (* phi1 (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) in lambda2 9.605 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))))) in lambda2 9.605 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2 9.605 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.605 * [backup-simplify]: Simplify 1/2 into 1/2 9.605 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2 9.605 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2 9.605 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.605 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.605 * [backup-simplify]: Simplify phi1 into phi1 9.605 * [taylor]: Taking taylor expansion of (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 9.606 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.606 * [backup-simplify]: Simplify 0 into 0 9.606 * [backup-simplify]: Simplify 1 into 1 9.606 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.606 * [taylor]: Taking taylor expansion of R in lambda2 9.606 * [backup-simplify]: Simplify R into R 9.606 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.606 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.606 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.606 * [backup-simplify]: Simplify 0.5 into 0.5 9.606 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.606 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.606 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.606 * [backup-simplify]: Simplify phi1 into phi1 9.606 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.606 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.606 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.606 * [backup-simplify]: Simplify phi2 into phi2 9.606 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.606 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.607 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.607 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.607 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.607 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.607 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.607 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.608 * [backup-simplify]: Simplify (- 0) into 0 9.608 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.608 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.609 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 9.609 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0 9.609 * [backup-simplify]: Simplify (+ 0) into 0 9.610 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.610 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.610 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.611 * [backup-simplify]: Simplify (+ 0 0) into 0 9.611 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.612 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.613 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.613 * [backup-simplify]: Simplify (- 0) into 0 9.614 * [backup-simplify]: Simplify (+ 0 0) into 0 9.614 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.615 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.615 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.616 * [backup-simplify]: Simplify (+ (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* 0 0)) into (* R (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.616 * [backup-simplify]: Simplify (/ 1 (* R (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* R (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 9.616 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))))) in lambda2 9.616 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.616 * [backup-simplify]: Simplify 1/2 into 1/2 9.616 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) in lambda2 9.616 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) in lambda2 9.616 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.616 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.616 * [backup-simplify]: Simplify phi2 into phi2 9.616 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) in lambda2 9.616 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.616 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.616 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.616 * [backup-simplify]: Simplify 0.5 into 0.5 9.617 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.617 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.617 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.617 * [backup-simplify]: Simplify phi1 into phi1 9.617 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.617 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.617 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.617 * [backup-simplify]: Simplify phi2 into phi2 9.617 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.617 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.617 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.617 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.617 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.618 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2 9.618 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.618 * [backup-simplify]: Simplify 0 into 0 9.618 * [backup-simplify]: Simplify 1 into 1 9.618 * [taylor]: Taking taylor expansion of R in lambda2 9.618 * [backup-simplify]: Simplify R into R 9.618 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.618 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.618 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.619 * [backup-simplify]: Simplify (- 0) into 0 9.619 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.619 * [backup-simplify]: Simplify (* 0 R) into 0 9.619 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.619 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 9.620 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 9.620 * [backup-simplify]: Simplify (+ 0) into 0 9.621 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.621 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.621 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.622 * [backup-simplify]: Simplify (+ 0 0) into 0 9.622 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.624 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.624 * [backup-simplify]: Simplify (- 0) into 0 9.625 * [backup-simplify]: Simplify (+ 0 0) into 0 9.625 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (* 0 0)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.625 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.626 * [backup-simplify]: Simplify (+ (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.627 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 9.627 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in lambda2 9.627 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in lambda2 9.627 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.627 * [backup-simplify]: Simplify phi2 into phi2 9.627 * [taylor]: Taking taylor expansion of (* phi1 (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda2 9.627 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.627 * [backup-simplify]: Simplify phi1 into phi1 9.627 * [taylor]: Taking taylor expansion of (* lambda2 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 9.627 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.627 * [backup-simplify]: Simplify 0 into 0 9.627 * [backup-simplify]: Simplify 1 into 1 9.627 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.627 * [taylor]: Taking taylor expansion of R in lambda2 9.627 * [backup-simplify]: Simplify R into R 9.627 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.627 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.627 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.627 * [backup-simplify]: Simplify 0.5 into 0.5 9.627 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.627 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.627 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.627 * [backup-simplify]: Simplify phi1 into phi1 9.627 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.627 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.627 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.627 * [backup-simplify]: Simplify phi2 into phi2 9.627 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.628 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.628 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.628 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.628 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.628 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.628 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.629 * [backup-simplify]: Simplify (- 0) into 0 9.629 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.629 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.629 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 9.629 * [backup-simplify]: Simplify (* phi1 0) into 0 9.629 * [backup-simplify]: Simplify (* phi2 0) into 0 9.629 * [backup-simplify]: Simplify (+ 0) into 0 9.630 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.630 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.630 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.630 * [backup-simplify]: Simplify (+ 0 0) into 0 9.630 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.631 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.631 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.632 * [backup-simplify]: Simplify (- 0) into 0 9.632 * [backup-simplify]: Simplify (+ 0 0) into 0 9.632 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.632 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.633 * [backup-simplify]: Simplify (+ (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* 0 0)) into (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.633 * [backup-simplify]: Simplify (+ (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) (* 0 0)) into (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 9.633 * [backup-simplify]: Simplify (/ 1 (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R)))) 9.634 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* R (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))) 9.634 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 9.634 * [backup-simplify]: Simplify (+ (/ 1/2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))) (/ 1/2 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) 9.635 * [backup-simplify]: Simplify (- (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R))))) into (- (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))))) 9.635 * [backup-simplify]: Simplify (+ (+ (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (- (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)))))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) 9.635 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (/ 1 (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in phi2 9.636 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) in phi2 9.636 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi2 9.636 * [taylor]: Taking taylor expansion of 1/2 in phi2 9.636 * [backup-simplify]: Simplify 1/2 into 1/2 9.636 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi2 9.636 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 9.636 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.636 * [taylor]: Taking taylor expansion of phi2 in phi2 9.636 * [backup-simplify]: Simplify 0 into 0 9.636 * [backup-simplify]: Simplify 1 into 1 9.636 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 9.636 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.636 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.636 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.636 * [backup-simplify]: Simplify 0.5 into 0.5 9.636 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.636 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.636 * [taylor]: Taking taylor expansion of phi1 in phi2 9.636 * [backup-simplify]: Simplify phi1 into phi1 9.636 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.636 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.636 * [taylor]: Taking taylor expansion of phi2 in phi2 9.636 * [backup-simplify]: Simplify 0 into 0 9.636 * [backup-simplify]: Simplify 1 into 1 9.636 * [backup-simplify]: Simplify (/ 1 1) into 1 9.637 * [backup-simplify]: Simplify (+ 0 1) into 1 9.637 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.637 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.637 * [taylor]: Taking taylor expansion of R in phi2 9.637 * [backup-simplify]: Simplify R into R 9.637 * [backup-simplify]: Simplify (* 1 1) into 1 9.637 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.638 * [backup-simplify]: Simplify (* 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.638 * [backup-simplify]: Simplify (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.638 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi2 9.638 * [taylor]: Taking taylor expansion of 1/2 in phi2 9.638 * [backup-simplify]: Simplify 1/2 into 1/2 9.638 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 9.638 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 9.638 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.638 * [taylor]: Taking taylor expansion of phi1 in phi2 9.638 * [backup-simplify]: Simplify phi1 into phi1 9.638 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 9.638 * [taylor]: Taking taylor expansion of R in phi2 9.638 * [backup-simplify]: Simplify R into R 9.638 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.638 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.638 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.638 * [backup-simplify]: Simplify 0.5 into 0.5 9.638 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.638 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.638 * [taylor]: Taking taylor expansion of phi1 in phi2 9.638 * [backup-simplify]: Simplify phi1 into phi1 9.638 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.638 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.638 * [taylor]: Taking taylor expansion of phi2 in phi2 9.638 * [backup-simplify]: Simplify 0 into 0 9.638 * [backup-simplify]: Simplify 1 into 1 9.638 * [backup-simplify]: Simplify (/ 1 1) into 1 9.639 * [backup-simplify]: Simplify (+ 0 1) into 1 9.639 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.639 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.639 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.639 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.639 * [backup-simplify]: Simplify (* (pow phi1 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi1 2))) 9.640 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi1 2)))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))) 9.640 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi2 9.640 * [taylor]: Taking taylor expansion of (* phi2 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 9.640 * [taylor]: Taking taylor expansion of phi2 in phi2 9.640 * [backup-simplify]: Simplify 0 into 0 9.640 * [backup-simplify]: Simplify 1 into 1 9.640 * [taylor]: Taking taylor expansion of (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 9.640 * [taylor]: Taking taylor expansion of R in phi2 9.640 * [backup-simplify]: Simplify R into R 9.640 * [taylor]: Taking taylor expansion of (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 9.640 * [taylor]: Taking taylor expansion of phi1 in phi2 9.640 * [backup-simplify]: Simplify phi1 into phi1 9.640 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.640 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.640 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.640 * [backup-simplify]: Simplify 0.5 into 0.5 9.640 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.640 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.640 * [taylor]: Taking taylor expansion of phi1 in phi2 9.640 * [backup-simplify]: Simplify phi1 into phi1 9.640 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.640 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.640 * [taylor]: Taking taylor expansion of phi2 in phi2 9.640 * [backup-simplify]: Simplify 0 into 0 9.640 * [backup-simplify]: Simplify 1 into 1 9.641 * [backup-simplify]: Simplify (/ 1 1) into 1 9.641 * [backup-simplify]: Simplify (+ 0 1) into 1 9.641 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.641 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.642 * [backup-simplify]: Simplify (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) 9.642 * [backup-simplify]: Simplify (* R (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R)) 9.642 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R))) into 0 9.642 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.642 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) into 0 9.642 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R)))) into (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.643 * [backup-simplify]: Simplify (/ 1 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 9.643 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 9.643 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.644 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (/ 0 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0 9.644 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 9.645 * [backup-simplify]: Simplify (+ 0 0) into 0 9.645 * [backup-simplify]: Simplify (- (/ 1 (* R (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R)))) 9.645 * [backup-simplify]: Simplify (+ 0 (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)))) 9.645 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)))) in phi1 9.645 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))) in phi1 9.645 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)) in phi1 9.645 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.645 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.645 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.645 * [backup-simplify]: Simplify 0.5 into 0.5 9.645 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.645 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.645 * [taylor]: Taking taylor expansion of phi1 in phi1 9.645 * [backup-simplify]: Simplify 0 into 0 9.645 * [backup-simplify]: Simplify 1 into 1 9.646 * [backup-simplify]: Simplify (/ 1 1) into 1 9.646 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.646 * [taylor]: Taking taylor expansion of phi2 in phi1 9.646 * [backup-simplify]: Simplify phi2 into phi2 9.646 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.646 * [backup-simplify]: Simplify (+ 1 0) into 1 9.646 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.646 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.646 * [taylor]: Taking taylor expansion of (* R phi1) in phi1 9.646 * [taylor]: Taking taylor expansion of R in phi1 9.646 * [backup-simplify]: Simplify R into R 9.646 * [taylor]: Taking taylor expansion of phi1 in phi1 9.646 * [backup-simplify]: Simplify 0 into 0 9.646 * [backup-simplify]: Simplify 1 into 1 9.646 * [backup-simplify]: Simplify (* R 0) into 0 9.647 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.647 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 9.647 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (* 0 0)) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.647 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.648 * [backup-simplify]: Simplify (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (- (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 9.648 * [taylor]: Taking taylor expansion of (- (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in R 9.648 * [taylor]: Taking taylor expansion of (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R 9.648 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R 9.648 * [taylor]: Taking taylor expansion of R in R 9.648 * [backup-simplify]: Simplify 0 into 0 9.648 * [backup-simplify]: Simplify 1 into 1 9.648 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 9.648 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 9.648 * [taylor]: Taking taylor expansion of 0.5 in R 9.648 * [backup-simplify]: Simplify 0.5 into 0.5 9.648 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 9.648 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.648 * [taylor]: Taking taylor expansion of phi1 in R 9.648 * [backup-simplify]: Simplify phi1 into phi1 9.648 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.648 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.648 * [taylor]: Taking taylor expansion of phi2 in R 9.648 * [backup-simplify]: Simplify phi2 into phi2 9.648 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.648 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.648 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.648 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.648 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.648 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.649 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.649 * [backup-simplify]: Simplify (- 0) into 0 9.649 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.649 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.649 * [backup-simplify]: Simplify (+ 0) into 0 9.650 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.650 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.650 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.650 * [backup-simplify]: Simplify (+ 0 0) into 0 9.650 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.651 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.652 * [backup-simplify]: Simplify (- 0) into 0 9.652 * [backup-simplify]: Simplify (+ 0 0) into 0 9.652 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.652 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.652 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.653 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.653 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1/2 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 9.653 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R)))) into (/ 1/2 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 9.654 * [backup-simplify]: Simplify (+ (/ 1/2 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) (/ 1/2 (* (pow phi1 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) 9.654 * [backup-simplify]: Simplify (- (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into (- (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) 9.655 * [backup-simplify]: Simplify (+ (+ (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (- (/ 1 (* phi2 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))))) (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))))) 9.655 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))))) (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))))) in phi2 9.655 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))))) in phi2 9.655 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi2 9.655 * [taylor]: Taking taylor expansion of 1/2 in phi2 9.655 * [backup-simplify]: Simplify 1/2 into 1/2 9.655 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi2 9.655 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 9.655 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.655 * [taylor]: Taking taylor expansion of phi2 in phi2 9.655 * [backup-simplify]: Simplify 0 into 0 9.655 * [backup-simplify]: Simplify 1 into 1 9.655 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 9.655 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.655 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.655 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.655 * [backup-simplify]: Simplify 0.5 into 0.5 9.655 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.655 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.655 * [taylor]: Taking taylor expansion of phi1 in phi2 9.655 * [backup-simplify]: Simplify phi1 into phi1 9.655 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.655 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.655 * [taylor]: Taking taylor expansion of phi2 in phi2 9.655 * [backup-simplify]: Simplify 0 into 0 9.655 * [backup-simplify]: Simplify 1 into 1 9.655 * [backup-simplify]: Simplify (/ 1 1) into 1 9.656 * [backup-simplify]: Simplify (+ 0 1) into 1 9.656 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.656 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.656 * [taylor]: Taking taylor expansion of R in phi2 9.656 * [backup-simplify]: Simplify R into R 9.657 * [backup-simplify]: Simplify (* 1 1) into 1 9.657 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.657 * [backup-simplify]: Simplify (* 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.658 * [backup-simplify]: Simplify (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.658 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R)))) in phi2 9.658 * [taylor]: Taking taylor expansion of 1/2 in phi2 9.658 * [backup-simplify]: Simplify 1/2 into 1/2 9.658 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R))) in phi2 9.658 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* (pow phi1 2) R)) in phi2 9.658 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.658 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.658 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.658 * [backup-simplify]: Simplify 0.5 into 0.5 9.658 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.658 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.658 * [taylor]: Taking taylor expansion of phi1 in phi2 9.658 * [backup-simplify]: Simplify phi1 into phi1 9.658 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.658 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.658 * [taylor]: Taking taylor expansion of phi2 in phi2 9.658 * [backup-simplify]: Simplify 0 into 0 9.658 * [backup-simplify]: Simplify 1 into 1 9.659 * [backup-simplify]: Simplify (/ 1 1) into 1 9.659 * [backup-simplify]: Simplify (+ 0 1) into 1 9.660 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.660 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.660 * [taylor]: Taking taylor expansion of (* (pow phi1 2) R) in phi2 9.660 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.660 * [taylor]: Taking taylor expansion of phi1 in phi2 9.660 * [backup-simplify]: Simplify phi1 into phi1 9.660 * [taylor]: Taking taylor expansion of R in phi2 9.660 * [backup-simplify]: Simplify R into R 9.660 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.660 * [backup-simplify]: Simplify (* (pow phi1 2) R) into (* R (pow phi1 2)) 9.661 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R (pow phi1 2))) into (* R (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.661 * [backup-simplify]: Simplify (/ 1 (* R (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ 1 (* R (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 9.661 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)))) in phi2 9.661 * [taylor]: Taking taylor expansion of (* phi2 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))) in phi2 9.661 * [taylor]: Taking taylor expansion of phi2 in phi2 9.661 * [backup-simplify]: Simplify 0 into 0 9.662 * [backup-simplify]: Simplify 1 into 1 9.662 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)) in phi2 9.662 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.662 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.662 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.662 * [backup-simplify]: Simplify 0.5 into 0.5 9.662 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.662 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.662 * [taylor]: Taking taylor expansion of phi1 in phi2 9.662 * [backup-simplify]: Simplify phi1 into phi1 9.662 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.662 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.662 * [taylor]: Taking taylor expansion of phi2 in phi2 9.662 * [backup-simplify]: Simplify 0 into 0 9.662 * [backup-simplify]: Simplify 1 into 1 9.663 * [backup-simplify]: Simplify (/ 1 1) into 1 9.663 * [backup-simplify]: Simplify (+ 0 1) into 1 9.664 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.664 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.664 * [taylor]: Taking taylor expansion of (* R phi1) in phi2 9.664 * [taylor]: Taking taylor expansion of R in phi2 9.664 * [backup-simplify]: Simplify R into R 9.664 * [taylor]: Taking taylor expansion of phi1 in phi2 9.664 * [backup-simplify]: Simplify phi1 into phi1 9.664 * [backup-simplify]: Simplify (* R phi1) into (* phi1 R) 9.665 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R)) into (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.665 * [backup-simplify]: Simplify (* 0 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.665 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi1)) into 0 9.665 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (* phi1 R))) into 0 9.666 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1)) 9.667 * [backup-simplify]: Simplify (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* R phi1))) into (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R))) 9.667 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 9.668 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.668 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.669 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (/ 0 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0 9.670 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 9.670 * [backup-simplify]: Simplify (+ 0 0) into 0 9.670 * [backup-simplify]: Simplify (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* phi1 R)))) into (- (/ 1 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 9.671 * [backup-simplify]: Simplify (+ 0 (- (/ 1 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into (- (/ 1 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 9.671 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi1 9.671 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1 9.671 * [taylor]: Taking taylor expansion of (* phi1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 9.671 * [taylor]: Taking taylor expansion of phi1 in phi1 9.671 * [backup-simplify]: Simplify 0 into 0 9.671 * [backup-simplify]: Simplify 1 into 1 9.671 * [taylor]: Taking taylor expansion of (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.671 * [taylor]: Taking taylor expansion of R in phi1 9.671 * [backup-simplify]: Simplify R into R 9.671 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.671 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.671 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.671 * [backup-simplify]: Simplify 0.5 into 0.5 9.671 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.671 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.671 * [taylor]: Taking taylor expansion of phi1 in phi1 9.671 * [backup-simplify]: Simplify 0 into 0 9.671 * [backup-simplify]: Simplify 1 into 1 9.672 * [backup-simplify]: Simplify (/ 1 1) into 1 9.672 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.672 * [taylor]: Taking taylor expansion of phi2 in phi1 9.672 * [backup-simplify]: Simplify phi2 into phi2 9.672 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.672 * [backup-simplify]: Simplify (+ 1 0) into 1 9.673 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.673 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.673 * [backup-simplify]: Simplify (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.674 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 9.674 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.675 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.675 * [backup-simplify]: Simplify (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.675 * [backup-simplify]: Simplify (- (/ 1 (* R (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 9.675 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in R 9.675 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R 9.675 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R 9.675 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 9.675 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 9.675 * [taylor]: Taking taylor expansion of 0.5 in R 9.675 * [backup-simplify]: Simplify 0.5 into 0.5 9.675 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 9.676 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.676 * [taylor]: Taking taylor expansion of phi1 in R 9.676 * [backup-simplify]: Simplify phi1 into phi1 9.676 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.676 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.676 * [taylor]: Taking taylor expansion of phi2 in R 9.676 * [backup-simplify]: Simplify phi2 into phi2 9.676 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.676 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.676 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.676 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.676 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.677 * [taylor]: Taking taylor expansion of R in R 9.677 * [backup-simplify]: Simplify 0 into 0 9.677 * [backup-simplify]: Simplify 1 into 1 9.677 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.677 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.678 * [backup-simplify]: Simplify (- 0) into 0 9.678 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.678 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.678 * [backup-simplify]: Simplify (+ 0) into 0 9.679 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.679 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.679 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.680 * [backup-simplify]: Simplify (+ 0 0) into 0 9.681 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.682 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.683 * [backup-simplify]: Simplify (- 0) into 0 9.683 * [backup-simplify]: Simplify (+ 0 0) into 0 9.688 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.689 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.689 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.689 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.691 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.692 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.692 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.692 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.693 * [backup-simplify]: Simplify (+ 0 0) into 0 9.694 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.694 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.695 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.696 * [backup-simplify]: Simplify (- 0) into 0 9.696 * [backup-simplify]: Simplify (+ 0 0) into 0 9.697 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0 9.698 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 9.698 * [backup-simplify]: Simplify (- 0) into 0 9.698 * [taylor]: Taking taylor expansion of 0 in phi2 9.698 * [backup-simplify]: Simplify 0 into 0 9.699 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.700 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.700 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.700 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.700 * [backup-simplify]: Simplify (+ 0 0) into 0 9.701 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.702 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.702 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.702 * [backup-simplify]: Simplify (- 0) into 0 9.702 * [backup-simplify]: Simplify (+ 0 0) into 0 9.703 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 9.703 * [taylor]: Taking taylor expansion of 0 in phi2 9.703 * [backup-simplify]: Simplify 0 into 0 9.703 * [taylor]: Taking taylor expansion of 0 in phi1 9.703 * [backup-simplify]: Simplify 0 into 0 9.703 * [taylor]: Taking taylor expansion of 0 in phi1 9.703 * [backup-simplify]: Simplify 0 into 0 9.703 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 9.703 * [backup-simplify]: Simplify (- 0) into 0 9.703 * [taylor]: Taking taylor expansion of 0 in phi1 9.703 * [backup-simplify]: Simplify 0 into 0 9.704 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 9.704 * [taylor]: Taking taylor expansion of 0 in phi1 9.704 * [backup-simplify]: Simplify 0 into 0 9.704 * [backup-simplify]: Simplify (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.704 * [taylor]: Taking taylor expansion of (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R 9.704 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R 9.704 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 9.704 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 9.704 * [taylor]: Taking taylor expansion of 0.5 in R 9.704 * [backup-simplify]: Simplify 0.5 into 0.5 9.704 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 9.704 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.704 * [taylor]: Taking taylor expansion of phi1 in R 9.704 * [backup-simplify]: Simplify phi1 into phi1 9.704 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.704 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.704 * [taylor]: Taking taylor expansion of phi2 in R 9.704 * [backup-simplify]: Simplify phi2 into phi2 9.704 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.704 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.704 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.704 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.705 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.705 * [taylor]: Taking taylor expansion of R in R 9.705 * [backup-simplify]: Simplify 0 into 0 9.705 * [backup-simplify]: Simplify 1 into 1 9.705 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.705 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.705 * [backup-simplify]: Simplify (- 0) into 0 9.705 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.705 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.705 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.706 * [backup-simplify]: Simplify (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (- (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.707 * [backup-simplify]: Simplify (+ (* (- (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* (/ 1 (/ 1 R)) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (* 1 (/ 1 lambda1)))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2)))))))) into (- (+ (/ (* phi2 (* lambda2 (* R phi1))) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 (* phi1 R)) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (* (cos (* 0.5 (+ phi2 phi1))) R))))) 9.707 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1)))))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))) (/ 1 (- R))) into (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) 9.707 * [approximate]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in (lambda1 lambda2 phi2 phi1 R) around 0 9.707 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in R 9.707 * [taylor]: Taking taylor expansion of -1 in R 9.707 * [backup-simplify]: Simplify -1 into -1 9.707 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in R 9.707 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in R 9.708 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 9.708 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in R 9.708 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in R 9.708 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R 9.708 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R 9.708 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 9.708 * [taylor]: Taking taylor expansion of lambda2 in R 9.708 * [backup-simplify]: Simplify lambda2 into lambda2 9.708 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.708 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 9.708 * [taylor]: Taking taylor expansion of lambda1 in R 9.708 * [backup-simplify]: Simplify lambda1 into lambda1 9.708 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.708 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 9.708 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 9.708 * [taylor]: Taking taylor expansion of -0.5 in R 9.708 * [backup-simplify]: Simplify -0.5 into -0.5 9.708 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 9.708 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.708 * [taylor]: Taking taylor expansion of phi1 in R 9.708 * [backup-simplify]: Simplify phi1 into phi1 9.708 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.708 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.708 * [taylor]: Taking taylor expansion of phi2 in R 9.708 * [backup-simplify]: Simplify phi2 into phi2 9.708 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.709 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.709 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.709 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.709 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.709 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in R 9.709 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R 9.709 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 9.709 * [taylor]: Taking taylor expansion of lambda2 in R 9.709 * [backup-simplify]: Simplify lambda2 into lambda2 9.709 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.709 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 9.709 * [taylor]: Taking taylor expansion of lambda1 in R 9.709 * [backup-simplify]: Simplify lambda1 into lambda1 9.709 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.709 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 9.709 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 9.709 * [taylor]: Taking taylor expansion of -0.5 in R 9.709 * [backup-simplify]: Simplify -0.5 into -0.5 9.709 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 9.709 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.709 * [taylor]: Taking taylor expansion of phi1 in R 9.709 * [backup-simplify]: Simplify phi1 into phi1 9.709 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.709 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.709 * [taylor]: Taking taylor expansion of phi2 in R 9.709 * [backup-simplify]: Simplify phi2 into phi2 9.709 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.709 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.710 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.710 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.710 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.710 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in R 9.710 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R 9.710 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.710 * [taylor]: Taking taylor expansion of phi2 in R 9.710 * [backup-simplify]: Simplify phi2 into phi2 9.710 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.710 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.710 * [taylor]: Taking taylor expansion of phi1 in R 9.710 * [backup-simplify]: Simplify phi1 into phi1 9.710 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.710 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R 9.710 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.710 * [taylor]: Taking taylor expansion of phi2 in R 9.710 * [backup-simplify]: Simplify phi2 into phi2 9.710 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.710 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.710 * [taylor]: Taking taylor expansion of phi1 in R 9.710 * [backup-simplify]: Simplify phi1 into phi1 9.710 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.710 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 9.710 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 9.710 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.711 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.711 * [backup-simplify]: Simplify (- 0) into 0 9.711 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.711 * [backup-simplify]: Simplify (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.711 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 9.711 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 9.711 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.712 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.712 * [backup-simplify]: Simplify (- 0) into 0 9.712 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.712 * [backup-simplify]: Simplify (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.712 * [backup-simplify]: Simplify (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 9.713 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 9.713 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 9.713 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 9.713 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 9.713 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2) 9.714 * [backup-simplify]: Simplify (+ (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ 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))))) 9.715 * [backup-simplify]: Simplify (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)))))) 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)))))) 9.715 * [backup-simplify]: Simplify (+ 0) into 0 9.716 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.716 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.716 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.716 * [backup-simplify]: Simplify (+ 0 0) into 0 9.717 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.717 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.718 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.718 * [backup-simplify]: Simplify (- 0) into 0 9.718 * [backup-simplify]: Simplify (+ 0 0) into 0 9.718 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 9.719 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 9.719 * [backup-simplify]: Simplify (- 0) into 0 9.719 * [backup-simplify]: Simplify (+ 0 0) into 0 9.719 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda2) (/ 1 lambda1)) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.720 * [backup-simplify]: Simplify (+ 0) into 0 9.720 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.720 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.720 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.720 * [backup-simplify]: Simplify (+ 0 0) into 0 9.721 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.722 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.722 * [backup-simplify]: Simplify (- 0) into 0 9.722 * [backup-simplify]: Simplify (+ 0 0) into 0 9.722 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 9.722 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 9.722 * [backup-simplify]: Simplify (- 0) into 0 9.723 * [backup-simplify]: Simplify (+ 0 0) into 0 9.723 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda2) (/ 1 lambda1)) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.723 * [backup-simplify]: Simplify (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (* 0 (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.723 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.723 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.724 * [backup-simplify]: Simplify (- 0) into 0 9.724 * [backup-simplify]: Simplify (+ 0 0) into 0 9.724 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.724 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.725 * [backup-simplify]: Simplify (- 0) into 0 9.725 * [backup-simplify]: Simplify (+ 0 0) into 0 9.725 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0 9.725 * [backup-simplify]: Simplify (+ 0 0) into 0 9.727 * [backup-simplify]: Simplify (/ 0 (* 2 (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)))))))) into 0 9.727 * [taylor]: Taking taylor expansion of R in R 9.727 * [backup-simplify]: Simplify 0 into 0 9.727 * [backup-simplify]: Simplify 1 into 1 9.728 * [backup-simplify]: Simplify (/ (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)))))) 1) 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)))))) 9.728 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi1 9.728 * [taylor]: Taking taylor expansion of -1 in phi1 9.728 * [backup-simplify]: Simplify -1 into -1 9.729 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi1 9.729 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi1 9.729 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 9.729 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi1 9.729 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 9.729 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.729 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 9.729 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 9.729 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.729 * [backup-simplify]: Simplify lambda2 into lambda2 9.729 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.729 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 9.729 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.729 * [backup-simplify]: Simplify lambda1 into lambda1 9.729 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.729 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.729 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.729 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.729 * [backup-simplify]: Simplify -0.5 into -0.5 9.729 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.729 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.729 * [taylor]: Taking taylor expansion of phi1 in phi1 9.729 * [backup-simplify]: Simplify 0 into 0 9.729 * [backup-simplify]: Simplify 1 into 1 9.729 * [backup-simplify]: Simplify (/ 1 1) into 1 9.729 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.729 * [taylor]: Taking taylor expansion of phi2 in phi1 9.729 * [backup-simplify]: Simplify phi2 into phi2 9.729 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.730 * [backup-simplify]: Simplify (+ 1 0) into 1 9.730 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.730 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.730 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.730 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 9.730 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 9.730 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.730 * [backup-simplify]: Simplify lambda2 into lambda2 9.730 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.730 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 9.730 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.730 * [backup-simplify]: Simplify lambda1 into lambda1 9.730 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.730 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.730 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.730 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.731 * [backup-simplify]: Simplify -0.5 into -0.5 9.731 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.731 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.731 * [taylor]: Taking taylor expansion of phi1 in phi1 9.731 * [backup-simplify]: Simplify 0 into 0 9.731 * [backup-simplify]: Simplify 1 into 1 9.731 * [backup-simplify]: Simplify (/ 1 1) into 1 9.731 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.731 * [taylor]: Taking taylor expansion of phi2 in phi1 9.731 * [backup-simplify]: Simplify phi2 into phi2 9.731 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.731 * [backup-simplify]: Simplify (+ 1 0) into 1 9.732 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.732 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.732 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi1 9.732 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1 9.732 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.732 * [taylor]: Taking taylor expansion of phi2 in phi1 9.732 * [backup-simplify]: Simplify phi2 into phi2 9.732 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.732 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.732 * [taylor]: Taking taylor expansion of phi1 in phi1 9.732 * [backup-simplify]: Simplify 0 into 0 9.732 * [backup-simplify]: Simplify 1 into 1 9.733 * [backup-simplify]: Simplify (/ 1 1) into 1 9.733 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1 9.733 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.733 * [taylor]: Taking taylor expansion of phi2 in phi1 9.733 * [backup-simplify]: Simplify phi2 into phi2 9.733 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.733 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.733 * [taylor]: Taking taylor expansion of phi1 in phi1 9.733 * [backup-simplify]: Simplify 0 into 0 9.733 * [backup-simplify]: Simplify 1 into 1 9.733 * [backup-simplify]: Simplify (/ 1 1) into 1 9.734 * [backup-simplify]: Simplify (- 1) into -1 9.734 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.735 * [backup-simplify]: Simplify (- 1) into -1 9.735 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.735 * [backup-simplify]: Simplify (* -1 -1) into 1 9.736 * [backup-simplify]: Simplify (+ 0 1) into 1 9.736 * [backup-simplify]: Simplify (sqrt 1) into 1 9.737 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.737 * [backup-simplify]: Simplify (- 0) into 0 9.738 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2) 9.738 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.739 * [backup-simplify]: Simplify (- 0) into 0 9.739 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2) 9.739 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi2)) (* (/ 1 phi2) -1)) into (- (* 2 (/ 1 phi2))) 9.739 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 9.740 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 9.740 * [taylor]: Taking taylor expansion of R in phi1 9.740 * [backup-simplify]: Simplify R into R 9.740 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 9.740 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi2 9.740 * [taylor]: Taking taylor expansion of -1 in phi2 9.740 * [backup-simplify]: Simplify -1 into -1 9.740 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi2 9.740 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi2 9.740 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 9.740 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi2 9.740 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 9.740 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 9.741 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 9.741 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 9.741 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.741 * [backup-simplify]: Simplify lambda2 into lambda2 9.741 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.741 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 9.741 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.741 * [backup-simplify]: Simplify lambda1 into lambda1 9.741 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.741 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.741 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.741 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.741 * [backup-simplify]: Simplify -0.5 into -0.5 9.741 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.741 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.741 * [taylor]: Taking taylor expansion of phi1 in phi2 9.741 * [backup-simplify]: Simplify phi1 into phi1 9.741 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.741 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.741 * [taylor]: Taking taylor expansion of phi2 in phi2 9.741 * [backup-simplify]: Simplify 0 into 0 9.741 * [backup-simplify]: Simplify 1 into 1 9.742 * [backup-simplify]: Simplify (/ 1 1) into 1 9.742 * [backup-simplify]: Simplify (+ 0 1) into 1 9.743 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.743 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.743 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 9.743 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 9.743 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 9.743 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.743 * [backup-simplify]: Simplify lambda2 into lambda2 9.743 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.743 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 9.743 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.743 * [backup-simplify]: Simplify lambda1 into lambda1 9.743 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.743 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.743 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.743 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.743 * [backup-simplify]: Simplify -0.5 into -0.5 9.743 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.743 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.743 * [taylor]: Taking taylor expansion of phi1 in phi2 9.743 * [backup-simplify]: Simplify phi1 into phi1 9.743 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.744 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.744 * [taylor]: Taking taylor expansion of phi2 in phi2 9.744 * [backup-simplify]: Simplify 0 into 0 9.744 * [backup-simplify]: Simplify 1 into 1 9.744 * [backup-simplify]: Simplify (/ 1 1) into 1 9.744 * [backup-simplify]: Simplify (+ 0 1) into 1 9.745 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.745 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.745 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi2 9.745 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2 9.745 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.745 * [taylor]: Taking taylor expansion of phi2 in phi2 9.745 * [backup-simplify]: Simplify 0 into 0 9.745 * [backup-simplify]: Simplify 1 into 1 9.746 * [backup-simplify]: Simplify (/ 1 1) into 1 9.746 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.746 * [taylor]: Taking taylor expansion of phi1 in phi2 9.746 * [backup-simplify]: Simplify phi1 into phi1 9.746 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.746 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2 9.746 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.746 * [taylor]: Taking taylor expansion of phi2 in phi2 9.746 * [backup-simplify]: Simplify 0 into 0 9.746 * [backup-simplify]: Simplify 1 into 1 9.746 * [backup-simplify]: Simplify (/ 1 1) into 1 9.746 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.746 * [taylor]: Taking taylor expansion of phi1 in phi2 9.747 * [backup-simplify]: Simplify phi1 into phi1 9.747 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.747 * [backup-simplify]: Simplify (+ 1 0) into 1 9.747 * [backup-simplify]: Simplify (+ 1 0) into 1 9.748 * [backup-simplify]: Simplify (* 1 1) into 1 9.748 * [backup-simplify]: Simplify (+ 0 1) into 1 9.749 * [backup-simplify]: Simplify (sqrt 1) into 1 9.749 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.750 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 9.750 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1)) 9.750 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.750 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 9.751 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1)) 9.751 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi1))) (* (- (/ 1 phi1)) 1)) into (- (* 2 (/ 1 phi1))) 9.751 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 9.752 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 9.752 * [taylor]: Taking taylor expansion of R in phi2 9.752 * [backup-simplify]: Simplify R into R 9.752 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 9.752 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda2 9.752 * [taylor]: Taking taylor expansion of -1 in lambda2 9.752 * [backup-simplify]: Simplify -1 into -1 9.752 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda2 9.752 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda2 9.752 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 9.752 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda2 9.752 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 9.752 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.752 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 9.752 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 9.752 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.752 * [backup-simplify]: Simplify 0 into 0 9.753 * [backup-simplify]: Simplify 1 into 1 9.753 * [backup-simplify]: Simplify (/ 1 1) into 1 9.753 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 9.753 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.753 * [backup-simplify]: Simplify lambda1 into lambda1 9.753 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.753 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.753 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.753 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.753 * [backup-simplify]: Simplify -0.5 into -0.5 9.753 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.753 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.753 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.753 * [backup-simplify]: Simplify phi1 into phi1 9.753 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.753 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.754 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.754 * [backup-simplify]: Simplify phi2 into phi2 9.754 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.754 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.754 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.754 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.754 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.754 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.754 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 9.754 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 9.754 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.754 * [backup-simplify]: Simplify 0 into 0 9.755 * [backup-simplify]: Simplify 1 into 1 9.755 * [backup-simplify]: Simplify (/ 1 1) into 1 9.755 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 9.755 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.755 * [backup-simplify]: Simplify lambda1 into lambda1 9.755 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 9.755 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.755 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.755 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.755 * [backup-simplify]: Simplify -0.5 into -0.5 9.755 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.755 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.755 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.755 * [backup-simplify]: Simplify phi1 into phi1 9.755 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.755 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.755 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.755 * [backup-simplify]: Simplify phi2 into phi2 9.756 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.756 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.756 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.756 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.756 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.756 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda2 9.756 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2 9.756 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.756 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.756 * [backup-simplify]: Simplify phi2 into phi2 9.756 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.756 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.756 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.756 * [backup-simplify]: Simplify phi1 into phi1 9.757 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.757 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2 9.757 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.757 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.757 * [backup-simplify]: Simplify phi2 into phi2 9.757 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.757 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.757 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.757 * [backup-simplify]: Simplify phi1 into phi1 9.757 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.757 * [backup-simplify]: Simplify (+ 1 0) into 1 9.758 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.758 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.758 * [backup-simplify]: Simplify (- 0) into 0 9.758 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.759 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.759 * [backup-simplify]: Simplify (+ 1 0) into 1 9.759 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.760 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.760 * [backup-simplify]: Simplify (- 0) into 0 9.760 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.760 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.761 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.761 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.761 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.762 * [backup-simplify]: Simplify (+ 0) into 0 9.762 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.763 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.763 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.763 * [backup-simplify]: Simplify (+ 0 0) into 0 9.764 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.765 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.765 * [backup-simplify]: Simplify (- 0) into 0 9.765 * [backup-simplify]: Simplify (+ 0 0) into 0 9.765 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.766 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 9.766 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1)) 9.766 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 9.766 * [backup-simplify]: Simplify (+ 0) into 0 9.767 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.767 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.767 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.767 * [backup-simplify]: Simplify (+ 0 0) into 0 9.767 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.768 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.769 * [backup-simplify]: Simplify (- 0) into 0 9.769 * [backup-simplify]: Simplify (+ 0 0) into 0 9.769 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.769 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 9.769 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1)) 9.770 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 9.770 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 9.771 * [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))) 9.771 * [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)) 9.771 * [taylor]: Taking taylor expansion of R in lambda2 9.771 * [backup-simplify]: Simplify R into R 9.771 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.771 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1 9.771 * [taylor]: Taking taylor expansion of -1 in lambda1 9.771 * [backup-simplify]: Simplify -1 into -1 9.771 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1 9.771 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 9.772 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 9.772 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1 9.772 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 9.772 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.772 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 9.772 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.772 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.772 * [backup-simplify]: Simplify lambda2 into lambda2 9.772 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.772 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 9.772 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.772 * [backup-simplify]: Simplify 0 into 0 9.772 * [backup-simplify]: Simplify 1 into 1 9.772 * [backup-simplify]: Simplify (/ 1 1) into 1 9.772 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.772 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.772 * [taylor]: Taking taylor expansion of -0.5 in lambda1 9.772 * [backup-simplify]: Simplify -0.5 into -0.5 9.772 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.772 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.772 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.772 * [backup-simplify]: Simplify phi1 into phi1 9.772 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.772 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.772 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.772 * [backup-simplify]: Simplify phi2 into phi2 9.772 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.772 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.773 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.773 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.773 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.773 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.773 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 9.773 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.773 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.773 * [backup-simplify]: Simplify lambda2 into lambda2 9.773 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.773 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 9.773 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.773 * [backup-simplify]: Simplify 0 into 0 9.773 * [backup-simplify]: Simplify 1 into 1 9.773 * [backup-simplify]: Simplify (/ 1 1) into 1 9.773 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.773 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.773 * [taylor]: Taking taylor expansion of -0.5 in lambda1 9.773 * [backup-simplify]: Simplify -0.5 into -0.5 9.773 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.773 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.773 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.773 * [backup-simplify]: Simplify phi1 into phi1 9.773 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.773 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.773 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.773 * [backup-simplify]: Simplify phi2 into phi2 9.773 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.774 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.774 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.774 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.774 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.774 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 9.774 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 9.774 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.774 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.774 * [backup-simplify]: Simplify phi2 into phi2 9.774 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.774 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.774 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.774 * [backup-simplify]: Simplify phi1 into phi1 9.774 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.774 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 9.774 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.774 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.774 * [backup-simplify]: Simplify phi2 into phi2 9.774 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.774 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.774 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.774 * [backup-simplify]: Simplify phi1 into phi1 9.774 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.775 * [backup-simplify]: Simplify (- 1) into -1 9.775 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.775 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.775 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.775 * [backup-simplify]: Simplify (- 0) into 0 9.775 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.775 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.776 * [backup-simplify]: Simplify (- 1) into -1 9.776 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.776 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.776 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.776 * [backup-simplify]: Simplify (- 0) into 0 9.777 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.777 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.777 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.777 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.777 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.778 * [backup-simplify]: Simplify (+ 0) into 0 9.778 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.778 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.778 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.778 * [backup-simplify]: Simplify (+ 0 0) into 0 9.779 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.779 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.780 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.780 * [backup-simplify]: Simplify (- 0) into 0 9.780 * [backup-simplify]: Simplify (+ 0 0) into 0 9.781 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.781 * [backup-simplify]: Simplify (- 0) into 0 9.781 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 9.781 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 9.782 * [backup-simplify]: Simplify (+ 0) into 0 9.782 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.782 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.782 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.783 * [backup-simplify]: Simplify (+ 0 0) into 0 9.783 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.784 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.784 * [backup-simplify]: Simplify (- 0) into 0 9.784 * [backup-simplify]: Simplify (+ 0 0) into 0 9.785 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.785 * [backup-simplify]: Simplify (- 0) into 0 9.785 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 9.785 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 9.786 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.786 * [backup-simplify]: Simplify (+ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 0) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.787 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 9.787 * [taylor]: Taking taylor expansion of R in lambda1 9.787 * [backup-simplify]: Simplify R into R 9.787 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.787 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1 9.787 * [taylor]: Taking taylor expansion of -1 in lambda1 9.787 * [backup-simplify]: Simplify -1 into -1 9.787 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1 9.787 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 9.787 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 9.787 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1 9.787 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 9.787 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.787 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 9.787 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.787 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.787 * [backup-simplify]: Simplify lambda2 into lambda2 9.787 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.787 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 9.787 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.787 * [backup-simplify]: Simplify 0 into 0 9.787 * [backup-simplify]: Simplify 1 into 1 9.788 * [backup-simplify]: Simplify (/ 1 1) into 1 9.788 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.788 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.788 * [taylor]: Taking taylor expansion of -0.5 in lambda1 9.788 * [backup-simplify]: Simplify -0.5 into -0.5 9.788 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.788 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.788 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.788 * [backup-simplify]: Simplify phi1 into phi1 9.788 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.788 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.788 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.788 * [backup-simplify]: Simplify phi2 into phi2 9.788 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.788 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.788 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.788 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.788 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.788 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 9.788 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 9.788 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 9.788 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.788 * [backup-simplify]: Simplify lambda2 into lambda2 9.788 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 9.788 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 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 * [backup-simplify]: Simplify (/ 1 1) into 1 9.789 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.789 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 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 (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.789 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.789 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.789 * [backup-simplify]: Simplify phi1 into phi1 9.789 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.789 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.789 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.789 * [backup-simplify]: Simplify phi2 into phi2 9.789 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.789 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.789 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.789 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.789 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.789 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 9.789 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 9.789 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.789 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.790 * [backup-simplify]: Simplify phi2 into phi2 9.790 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.790 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.790 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.790 * [backup-simplify]: Simplify phi1 into phi1 9.790 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.790 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 9.790 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.790 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.790 * [backup-simplify]: Simplify phi2 into phi2 9.790 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.790 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.790 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.790 * [backup-simplify]: Simplify phi1 into phi1 9.790 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.790 * [backup-simplify]: Simplify (- 1) into -1 9.790 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.790 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.791 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.791 * [backup-simplify]: Simplify (- 0) into 0 9.791 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.791 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.791 * [backup-simplify]: Simplify (- 1) into -1 9.792 * [backup-simplify]: Simplify (+ 0 -1) into -1 9.792 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.792 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.792 * [backup-simplify]: Simplify (- 0) into 0 9.792 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.792 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.793 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.793 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.793 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.793 * [backup-simplify]: Simplify (+ 0) into 0 9.794 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.794 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.794 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.794 * [backup-simplify]: Simplify (+ 0 0) into 0 9.795 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.795 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.796 * [backup-simplify]: Simplify (- 0) into 0 9.796 * [backup-simplify]: Simplify (+ 0 0) into 0 9.797 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.797 * [backup-simplify]: Simplify (- 0) into 0 9.797 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 9.798 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 9.798 * [backup-simplify]: Simplify (+ 0) into 0 9.799 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.799 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.800 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.800 * [backup-simplify]: Simplify (+ 0 0) into 0 9.801 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.802 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.802 * [backup-simplify]: Simplify (- 0) into 0 9.803 * [backup-simplify]: Simplify (+ 0 0) into 0 9.804 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.804 * [backup-simplify]: Simplify (- 0) into 0 9.804 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 9.805 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 9.806 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.807 * [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))) 9.808 * [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)) 9.808 * [taylor]: Taking taylor expansion of R in lambda1 9.808 * [backup-simplify]: Simplify R into R 9.808 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.808 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.808 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2 9.808 * [taylor]: Taking taylor expansion of -1 in lambda2 9.808 * [backup-simplify]: Simplify -1 into -1 9.808 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 9.808 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.808 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.808 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.808 * [backup-simplify]: Simplify -0.5 into -0.5 9.809 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.809 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.809 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.809 * [backup-simplify]: Simplify phi1 into phi1 9.809 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.809 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.809 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.809 * [backup-simplify]: Simplify phi2 into phi2 9.809 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.809 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.809 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.809 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.809 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.809 * [taylor]: Taking taylor expansion of R in lambda2 9.809 * [backup-simplify]: Simplify R into R 9.810 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.810 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.810 * [backup-simplify]: Simplify (- 0) into 0 9.811 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.811 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.811 * [backup-simplify]: Simplify (- (/ (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) 9.812 * [backup-simplify]: Simplify (+ (* -1 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) 9.812 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)) in lambda2 9.812 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.812 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.812 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.812 * [backup-simplify]: Simplify -0.5 into -0.5 9.812 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.812 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.812 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.812 * [backup-simplify]: Simplify phi1 into phi1 9.812 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.812 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.812 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.812 * [backup-simplify]: Simplify phi2 into phi2 9.813 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.813 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.813 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.813 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.813 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.813 * [taylor]: Taking taylor expansion of (* lambda2 R) 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 * [taylor]: Taking taylor expansion of R in lambda2 9.813 * [backup-simplify]: Simplify R into R 9.814 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.814 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.814 * [backup-simplify]: Simplify (- 0) into 0 9.815 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.815 * [backup-simplify]: Simplify (* 0 R) into 0 9.820 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 9.820 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.820 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 9.820 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.820 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.821 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.821 * [backup-simplify]: Simplify -0.5 into -0.5 9.821 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.821 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.821 * [taylor]: Taking taylor expansion of phi1 in phi2 9.821 * [backup-simplify]: Simplify phi1 into phi1 9.821 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.821 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.821 * [taylor]: Taking taylor expansion of phi2 in phi2 9.821 * [backup-simplify]: Simplify 0 into 0 9.821 * [backup-simplify]: Simplify 1 into 1 9.822 * [backup-simplify]: Simplify (/ 1 1) into 1 9.822 * [backup-simplify]: Simplify (+ 0 1) into 1 9.823 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.823 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.823 * [taylor]: Taking taylor expansion of R in phi2 9.823 * [backup-simplify]: Simplify R into R 9.823 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.823 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.824 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 9.824 * [taylor]: Taking taylor expansion of -1 in phi2 9.824 * [backup-simplify]: Simplify -1 into -1 9.824 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 9.824 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.824 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.824 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.824 * [backup-simplify]: Simplify -0.5 into -0.5 9.824 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.824 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.824 * [taylor]: Taking taylor expansion of phi1 in phi2 9.824 * [backup-simplify]: Simplify phi1 into phi1 9.824 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.824 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.824 * [taylor]: Taking taylor expansion of phi2 in phi2 9.824 * [backup-simplify]: Simplify 0 into 0 9.824 * [backup-simplify]: Simplify 1 into 1 9.825 * [backup-simplify]: Simplify (/ 1 1) into 1 9.825 * [backup-simplify]: Simplify (+ 0 1) into 1 9.826 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.826 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.826 * [taylor]: Taking taylor expansion of R in phi2 9.826 * [backup-simplify]: Simplify R into R 9.826 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.827 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.828 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.828 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.829 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.829 * [backup-simplify]: Simplify (+ 0 0) into 0 9.830 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.831 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.832 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.832 * [backup-simplify]: Simplify (- 0) into 0 9.833 * [backup-simplify]: Simplify (+ 0 0) into 0 9.833 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 9.834 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.834 * [backup-simplify]: Simplify (- 0) into 0 9.835 * [backup-simplify]: Simplify (+ 0 0) into 0 9.835 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.836 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.837 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.838 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.838 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.838 * [backup-simplify]: Simplify (+ 0 0) into 0 9.839 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.840 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.841 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.841 * [backup-simplify]: Simplify (- 0) into 0 9.842 * [backup-simplify]: Simplify (+ 0 0) into 0 9.842 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 9.843 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.843 * [backup-simplify]: Simplify (- 0) into 0 9.844 * [backup-simplify]: Simplify (+ 0 0) into 0 9.844 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.845 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 9.845 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 9.845 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 9.845 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 9.845 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 9.845 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2) 9.846 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) 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)))) 9.847 * [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)))))) 9.848 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) 9.849 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) (+ (* 0 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (- (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 9.849 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) in lambda2 9.849 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2 9.849 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2 9.849 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.849 * [backup-simplify]: Simplify phi2 into phi2 9.849 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2 9.849 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.849 * [backup-simplify]: Simplify phi1 into phi1 9.849 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 9.849 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.849 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.849 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.849 * [backup-simplify]: Simplify -0.5 into -0.5 9.849 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.849 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.849 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.849 * [backup-simplify]: Simplify phi1 into phi1 9.849 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.849 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.849 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.849 * [backup-simplify]: Simplify phi2 into phi2 9.849 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.850 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.850 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.850 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.850 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.850 * [taylor]: Taking taylor expansion of R in lambda2 9.850 * [backup-simplify]: Simplify R into R 9.850 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.850 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.850 * [backup-simplify]: Simplify (- 0) into 0 9.850 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.851 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.851 * [backup-simplify]: Simplify (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) 9.851 * [backup-simplify]: Simplify (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) into (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) 9.851 * [backup-simplify]: Simplify (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) into (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) 9.851 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in lambda2 9.851 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) in lambda2 9.851 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.851 * [backup-simplify]: Simplify 1/2 into 1/2 9.851 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) in lambda2 9.851 * [taylor]: Taking taylor expansion of (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) in lambda2 9.851 * [taylor]: Taking taylor expansion of R in lambda2 9.851 * [backup-simplify]: Simplify R into R 9.851 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) in lambda2 9.851 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.851 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.851 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.851 * [backup-simplify]: Simplify -0.5 into -0.5 9.851 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.851 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.851 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.851 * [backup-simplify]: Simplify phi1 into phi1 9.851 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.851 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.851 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.851 * [backup-simplify]: Simplify phi2 into phi2 9.852 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.852 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.852 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.852 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.852 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.852 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.852 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.852 * [backup-simplify]: Simplify phi1 into phi1 9.852 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.852 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.852 * [backup-simplify]: Simplify (- 0) into 0 9.853 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.853 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.853 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) 9.853 * [backup-simplify]: Simplify (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) into (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.853 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 9.853 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2 9.853 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.853 * [backup-simplify]: Simplify 1/2 into 1/2 9.853 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2 9.853 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2 9.853 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.853 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.853 * [backup-simplify]: Simplify phi2 into phi2 9.853 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 9.853 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.853 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.853 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.853 * [backup-simplify]: Simplify -0.5 into -0.5 9.853 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.853 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.854 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.854 * [backup-simplify]: Simplify phi1 into phi1 9.854 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.854 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.854 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.854 * [backup-simplify]: Simplify phi2 into phi2 9.854 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.854 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.854 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.854 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.854 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.854 * [taylor]: Taking taylor expansion of R in lambda2 9.854 * [backup-simplify]: Simplify R into R 9.854 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.854 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.854 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.855 * [backup-simplify]: Simplify (- 0) into 0 9.855 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.855 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.855 * [backup-simplify]: Simplify (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.855 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 9.856 * [backup-simplify]: Simplify (+ 0) into 0 9.856 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.856 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.856 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.856 * [backup-simplify]: Simplify (+ 0 0) into 0 9.857 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.858 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.858 * [backup-simplify]: Simplify (- 0) into 0 9.858 * [backup-simplify]: Simplify (+ 0 0) into 0 9.859 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0 9.859 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 9.859 * [taylor]: Taking taylor expansion of 0 in phi2 9.859 * [backup-simplify]: Simplify 0 into 0 9.859 * [backup-simplify]: Simplify (+ 0) into 0 9.860 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.860 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.860 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.860 * [backup-simplify]: Simplify (+ 0 0) into 0 9.860 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.861 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.861 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.861 * [backup-simplify]: Simplify (- 0) into 0 9.862 * [backup-simplify]: Simplify (+ 0 0) into 0 9.862 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 9.862 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0 9.862 * [taylor]: Taking taylor expansion of 0 in phi2 9.862 * [backup-simplify]: Simplify 0 into 0 9.862 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 9.862 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.862 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.862 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.862 * [backup-simplify]: Simplify -0.5 into -0.5 9.862 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.862 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.862 * [taylor]: Taking taylor expansion of phi1 in phi1 9.862 * [backup-simplify]: Simplify 0 into 0 9.862 * [backup-simplify]: Simplify 1 into 1 9.863 * [backup-simplify]: Simplify (/ 1 1) into 1 9.863 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.863 * [taylor]: Taking taylor expansion of phi2 in phi1 9.863 * [backup-simplify]: Simplify phi2 into phi2 9.863 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.863 * [backup-simplify]: Simplify (+ 1 0) into 1 9.863 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.864 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.864 * [taylor]: Taking taylor expansion of R in phi1 9.864 * [backup-simplify]: Simplify R into R 9.864 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.864 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.864 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1 9.864 * [taylor]: Taking taylor expansion of -1 in phi1 9.864 * [backup-simplify]: Simplify -1 into -1 9.864 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 9.864 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.864 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.864 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.864 * [backup-simplify]: Simplify -0.5 into -0.5 9.864 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.864 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.864 * [taylor]: Taking taylor expansion of phi1 in phi1 9.864 * [backup-simplify]: Simplify 0 into 0 9.864 * [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 9.864 * [backup-simplify]: Simplify phi2 into phi2 9.864 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.865 * [backup-simplify]: Simplify (+ 1 0) into 1 9.865 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.865 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.865 * [taylor]: Taking taylor expansion of R in phi1 9.865 * [backup-simplify]: Simplify R into R 9.865 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.866 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 9.867 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 9.867 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.867 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.867 * [backup-simplify]: Simplify (+ 0 0) into 0 9.868 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.869 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 9.869 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 9.870 * [backup-simplify]: Simplify (- 0) into 0 9.870 * [backup-simplify]: Simplify (+ 0 0) into 0 9.870 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 9.871 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.871 * [backup-simplify]: Simplify (- 0) into 0 9.871 * [backup-simplify]: Simplify (+ 0 0) into 0 9.872 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 9.873 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 9.874 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 9.874 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.875 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.875 * [backup-simplify]: Simplify (+ 0 0) into 0 9.876 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.878 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 9.879 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 9.879 * [backup-simplify]: Simplify (- 0) into 0 9.880 * [backup-simplify]: Simplify (+ 0 0) into 0 9.880 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 9.881 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.881 * [backup-simplify]: Simplify (- 0) into 0 9.881 * [backup-simplify]: Simplify (+ 0 0) into 0 9.883 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 9.884 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 0) (+ (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0 9.884 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.884 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.884 * [backup-simplify]: Simplify (- 0) into 0 9.884 * [backup-simplify]: Simplify (+ 0 0) into 0 9.884 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.885 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.885 * [backup-simplify]: Simplify (- 0) into 0 9.885 * [backup-simplify]: Simplify (+ 0 0) into 0 9.885 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0 9.885 * [backup-simplify]: Simplify (+ 0 0) into 0 9.886 * [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)))))) 9.888 * [backup-simplify]: Simplify (- (/ (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R))) (/ 0 R)) (* (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 0 R)))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) (/ 1 (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 9.890 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (* 1/2 (/ 1 (* (pow phi1 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) (/ 1 (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))))) (+ (* 0 (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) (+ (* 0 (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda2 R)))) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into (- (/ 1 (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (+ (* 1/2 (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))))) 9.890 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) (+ (* 1/2 (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))))) in lambda2 9.890 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in lambda2 9.890 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2 9.890 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.890 * [backup-simplify]: Simplify phi2 into phi2 9.890 * [taylor]: Taking taylor expansion of (* phi1 (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2 9.890 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.891 * [backup-simplify]: Simplify phi1 into phi1 9.891 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2 9.891 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.891 * [backup-simplify]: Simplify 0 into 0 9.891 * [backup-simplify]: Simplify 1 into 1 9.891 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 9.891 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.891 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.891 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.891 * [backup-simplify]: Simplify -0.5 into -0.5 9.891 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.891 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.891 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.891 * [backup-simplify]: Simplify phi1 into phi1 9.891 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.891 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.891 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.891 * [backup-simplify]: Simplify phi2 into phi2 9.891 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.891 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.891 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.891 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.891 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.891 * [taylor]: Taking taylor expansion of R in lambda2 9.891 * [backup-simplify]: Simplify R into R 9.891 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.891 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.892 * [backup-simplify]: Simplify (- 0) into 0 9.892 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.892 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.893 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 9.893 * [backup-simplify]: Simplify (* phi1 0) into 0 9.893 * [backup-simplify]: Simplify (* phi2 0) into 0 9.893 * [backup-simplify]: Simplify (+ 0) into 0 9.893 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.893 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.894 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.894 * [backup-simplify]: Simplify (+ 0 0) into 0 9.894 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.895 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.895 * [backup-simplify]: Simplify (- 0) into 0 9.896 * [backup-simplify]: Simplify (+ 0 0) into 0 9.896 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 9.896 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.897 * [backup-simplify]: Simplify (+ (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.897 * [backup-simplify]: Simplify (+ (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) (* 0 0)) into (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 9.897 * [backup-simplify]: Simplify (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) 9.897 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) in lambda2 9.897 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))))) in lambda2 9.897 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.897 * [backup-simplify]: Simplify 1/2 into 1/2 9.897 * [taylor]: Taking taylor expansion of (/ 1 (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) in lambda2 9.897 * [taylor]: Taking taylor expansion of (* R (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) in lambda2 9.897 * [taylor]: Taking taylor expansion of R in lambda2 9.898 * [backup-simplify]: Simplify R into R 9.898 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) in lambda2 9.898 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.898 * [backup-simplify]: Simplify 0 into 0 9.898 * [backup-simplify]: Simplify 1 into 1 9.898 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) in lambda2 9.898 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.898 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.898 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.898 * [backup-simplify]: Simplify -0.5 into -0.5 9.898 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.898 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.898 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 lambda2 9.898 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.898 * [backup-simplify]: Simplify phi2 into phi2 9.898 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.898 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.898 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.898 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.898 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.898 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.898 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.898 * [backup-simplify]: Simplify phi1 into phi1 9.898 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.899 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.899 * [backup-simplify]: Simplify (- 0) into 0 9.899 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.899 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.899 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) 9.899 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) into 0 9.899 * [backup-simplify]: Simplify (* R 0) into 0 9.900 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.900 * [backup-simplify]: Simplify (+ 0) into 0 9.900 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.900 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.901 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.901 * [backup-simplify]: Simplify (+ 0 0) into 0 9.901 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.902 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.902 * [backup-simplify]: Simplify (- 0) into 0 9.903 * [backup-simplify]: Simplify (+ 0 0) into 0 9.903 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (pow phi1 2))) into 0 9.903 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) 9.904 * [backup-simplify]: Simplify (+ (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) (* 0 0)) into (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) 9.904 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) into (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) 9.904 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in lambda2 9.904 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.904 * [backup-simplify]: Simplify 1/2 into 1/2 9.904 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in lambda2 9.904 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in lambda2 9.904 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.904 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.904 * [backup-simplify]: Simplify phi2 into phi2 9.904 * [taylor]: Taking taylor expansion of (* lambda2 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in lambda2 9.904 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.904 * [backup-simplify]: Simplify 0 into 0 9.904 * [backup-simplify]: Simplify 1 into 1 9.904 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in lambda2 9.904 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.904 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.904 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.904 * [backup-simplify]: Simplify -0.5 into -0.5 9.904 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.904 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.904 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.904 * [backup-simplify]: Simplify phi1 into phi1 9.904 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.904 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.904 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.904 * [backup-simplify]: Simplify phi2 into phi2 9.905 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.905 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.905 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.905 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.905 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.905 * [taylor]: Taking taylor expansion of R in lambda2 9.905 * [backup-simplify]: Simplify R into R 9.905 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.905 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.905 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.905 * [backup-simplify]: Simplify (- 0) into 0 9.906 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.906 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.906 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 9.906 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 9.906 * [backup-simplify]: Simplify (+ 0) into 0 9.907 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.907 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.907 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.907 * [backup-simplify]: Simplify (+ 0 0) into 0 9.907 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.908 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.908 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.909 * [backup-simplify]: Simplify (- 0) into 0 9.909 * [backup-simplify]: Simplify (+ 0 0) into 0 9.909 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 9.910 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.910 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.910 * [backup-simplify]: Simplify (+ (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (* 0 0)) into (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.910 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 9.911 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) into (/ 1/2 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 9.911 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (/ 1/2 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 9.911 * [backup-simplify]: Simplify (+ (/ 1/2 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) (/ 1/2 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) 9.912 * [backup-simplify]: Simplify (- (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) into (- (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 9.914 * [backup-simplify]: Simplify (+ (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) (- (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))))) into (- (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 9.914 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) in phi2 9.914 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) in phi2 9.914 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) in phi2 9.914 * [taylor]: Taking taylor expansion of phi2 in phi2 9.914 * [backup-simplify]: Simplify 0 into 0 9.914 * [backup-simplify]: Simplify 1 into 1 9.914 * [taylor]: Taking taylor expansion of (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) in phi2 9.914 * [taylor]: Taking taylor expansion of R in phi2 9.914 * [backup-simplify]: Simplify R into R 9.914 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) in phi2 9.914 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.914 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.914 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.914 * [backup-simplify]: Simplify -0.5 into -0.5 9.914 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.914 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.914 * [taylor]: Taking taylor expansion of phi1 in phi2 9.914 * [backup-simplify]: Simplify phi1 into phi1 9.914 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.914 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.914 * [taylor]: Taking taylor expansion of phi2 in phi2 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 9.916 * [backup-simplify]: Simplify (+ 0 1) into 1 9.916 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.916 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.916 * [taylor]: Taking taylor expansion of phi1 in phi2 9.916 * [backup-simplify]: Simplify phi1 into phi1 9.917 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) 9.917 * [backup-simplify]: Simplify (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) into (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.917 * [backup-simplify]: Simplify (* 0 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0 9.917 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 phi1)) into 0 9.918 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) into 0 9.918 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) 9.919 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) into (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) 9.919 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in phi2 9.919 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))) in phi2 9.919 * [taylor]: Taking taylor expansion of 1/2 in phi2 9.919 * [backup-simplify]: Simplify 1/2 into 1/2 9.919 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) in phi2 9.919 * [taylor]: Taking taylor expansion of (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) in phi2 9.919 * [taylor]: Taking taylor expansion of R in phi2 9.919 * [backup-simplify]: Simplify R into R 9.919 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) in phi2 9.919 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.919 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.919 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.919 * [backup-simplify]: Simplify -0.5 into -0.5 9.919 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.919 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.919 * [taylor]: Taking taylor expansion of phi1 in phi2 9.919 * [backup-simplify]: Simplify phi1 into phi1 9.919 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.919 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.919 * [taylor]: Taking taylor expansion of phi2 in phi2 9.919 * [backup-simplify]: Simplify 0 into 0 9.919 * [backup-simplify]: Simplify 1 into 1 9.920 * [backup-simplify]: Simplify (/ 1 1) into 1 9.920 * [backup-simplify]: Simplify (+ 0 1) into 1 9.921 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.921 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.921 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.921 * [taylor]: Taking taylor expansion of phi1 in phi2 9.921 * [backup-simplify]: Simplify phi1 into phi1 9.921 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.921 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) 9.922 * [backup-simplify]: Simplify (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) into (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.922 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 9.922 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi2 9.922 * [taylor]: Taking taylor expansion of 1/2 in phi2 9.922 * [backup-simplify]: Simplify 1/2 into 1/2 9.922 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi2 9.922 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 9.922 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.922 * [taylor]: Taking taylor expansion of phi2 in phi2 9.923 * [backup-simplify]: Simplify 0 into 0 9.923 * [backup-simplify]: Simplify 1 into 1 9.923 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 9.923 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.923 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.923 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.923 * [backup-simplify]: Simplify -0.5 into -0.5 9.923 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.923 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.923 * [taylor]: Taking taylor expansion of phi1 in phi2 9.923 * [backup-simplify]: Simplify phi1 into phi1 9.923 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.923 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.923 * [taylor]: Taking taylor expansion of phi2 in phi2 9.923 * [backup-simplify]: Simplify 0 into 0 9.923 * [backup-simplify]: Simplify 1 into 1 9.923 * [backup-simplify]: Simplify (/ 1 1) into 1 9.924 * [backup-simplify]: Simplify (+ 0 1) into 1 9.924 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.925 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.925 * [taylor]: Taking taylor expansion of R in phi2 9.925 * [backup-simplify]: Simplify R into R 9.925 * [backup-simplify]: Simplify (* 1 1) into 1 9.925 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.926 * [backup-simplify]: Simplify (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.926 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.926 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 9.927 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.928 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0 9.928 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (/ 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into 0 9.929 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0 9.929 * [backup-simplify]: Simplify (+ 0 0) into 0 9.930 * [backup-simplify]: Simplify (- 0) into 0 9.930 * [backup-simplify]: Simplify (+ (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) 0) into (/ 1 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 9.930 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi1 9.930 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi1 9.930 * [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 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi1 9.930 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.930 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.930 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.930 * [backup-simplify]: Simplify -0.5 into -0.5 9.930 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.930 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.930 * [taylor]: Taking taylor expansion of phi1 in phi1 9.930 * [backup-simplify]: Simplify 0 into 0 9.930 * [backup-simplify]: Simplify 1 into 1 9.931 * [backup-simplify]: Simplify (/ 1 1) into 1 9.931 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.931 * [taylor]: Taking taylor expansion of phi2 in phi1 9.931 * [backup-simplify]: Simplify phi2 into phi2 9.931 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.931 * [backup-simplify]: Simplify (+ 1 0) into 1 9.932 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.932 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.932 * [taylor]: Taking taylor expansion of R in phi1 9.932 * [backup-simplify]: Simplify R into R 9.932 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.933 * [backup-simplify]: Simplify (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into 0 9.933 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 9.934 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.934 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.934 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R 9.934 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R 9.934 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 9.934 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 9.934 * [taylor]: Taking taylor expansion of -0.5 in R 9.934 * [backup-simplify]: Simplify -0.5 into -0.5 9.934 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 9.934 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.934 * [taylor]: Taking taylor expansion of phi1 in R 9.934 * [backup-simplify]: Simplify phi1 into phi1 9.934 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.934 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.934 * [taylor]: Taking taylor expansion of phi2 in R 9.934 * [backup-simplify]: Simplify phi2 into phi2 9.934 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.935 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.935 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.935 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.935 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.935 * [taylor]: Taking taylor expansion of R in R 9.935 * [backup-simplify]: Simplify 0 into 0 9.935 * [backup-simplify]: Simplify 1 into 1 9.935 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.936 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.936 * [backup-simplify]: Simplify (- 0) into 0 9.936 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.937 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.937 * [backup-simplify]: Simplify (+ 0) into 0 9.938 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.938 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.938 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.938 * [backup-simplify]: Simplify (+ 0 0) into 0 9.939 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.940 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.941 * [backup-simplify]: Simplify (- 0) into 0 9.941 * [backup-simplify]: Simplify (+ 0 0) into 0 9.942 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.942 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.942 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.943 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (/ 1/2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) 9.944 * [backup-simplify]: Simplify (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (/ 1/2 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 9.945 * [backup-simplify]: Simplify (+ (/ 1/2 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) (/ 1/2 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) 9.946 * [backup-simplify]: Simplify (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) into (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 9.947 * [backup-simplify]: Simplify (+ (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (- (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))))) into (- (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) 9.947 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))))) in phi2 9.947 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi2 9.947 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi2 9.947 * [taylor]: Taking taylor expansion of phi2 in phi2 9.947 * [backup-simplify]: Simplify 0 into 0 9.947 * [backup-simplify]: Simplify 1 into 1 9.947 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 9.947 * [taylor]: Taking taylor expansion of phi1 in phi2 9.948 * [backup-simplify]: Simplify phi1 into phi1 9.948 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 9.948 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.948 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.948 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.948 * [backup-simplify]: Simplify -0.5 into -0.5 9.948 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.948 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.948 * [taylor]: Taking taylor expansion of phi1 in phi2 9.948 * [backup-simplify]: Simplify phi1 into phi1 9.948 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.948 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.948 * [taylor]: Taking taylor expansion of phi2 in phi2 9.948 * [backup-simplify]: Simplify 0 into 0 9.948 * [backup-simplify]: Simplify 1 into 1 9.953 * [backup-simplify]: Simplify (/ 1 1) into 1 9.954 * [backup-simplify]: Simplify (+ 0 1) into 1 9.955 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.955 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.955 * [taylor]: Taking taylor expansion of R in phi2 9.955 * [backup-simplify]: Simplify R into R 9.955 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.956 * [backup-simplify]: Simplify (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) 9.956 * [backup-simplify]: Simplify (* 0 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) into 0 9.956 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 9.956 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0 9.957 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) into (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.957 * [backup-simplify]: Simplify (/ 1 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into (/ 1 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 9.957 * [taylor]: Taking taylor expansion of (+ (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) in phi2 9.958 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi2 9.958 * [taylor]: Taking taylor expansion of 1/2 in phi2 9.958 * [backup-simplify]: Simplify 1/2 into 1/2 9.958 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi2 9.958 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 9.958 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.958 * [taylor]: Taking taylor expansion of phi2 in phi2 9.958 * [backup-simplify]: Simplify 0 into 0 9.958 * [backup-simplify]: Simplify 1 into 1 9.958 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 9.958 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.958 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.958 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.958 * [backup-simplify]: Simplify -0.5 into -0.5 9.958 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.958 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.958 * [taylor]: Taking taylor expansion of phi1 in phi2 9.958 * [backup-simplify]: Simplify phi1 into phi1 9.958 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.958 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.958 * [taylor]: Taking taylor expansion of phi2 in phi2 9.958 * [backup-simplify]: Simplify 0 into 0 9.958 * [backup-simplify]: Simplify 1 into 1 9.959 * [backup-simplify]: Simplify (/ 1 1) into 1 9.959 * [backup-simplify]: Simplify (+ 0 1) into 1 9.960 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.960 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.960 * [taylor]: Taking taylor expansion of R in phi2 9.960 * [backup-simplify]: Simplify R into R 9.960 * [backup-simplify]: Simplify (* 1 1) into 1 9.960 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.961 * [backup-simplify]: Simplify (* 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.961 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.961 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) in phi2 9.961 * [taylor]: Taking taylor expansion of 1/2 in phi2 9.961 * [backup-simplify]: Simplify 1/2 into 1/2 9.961 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) in phi2 9.961 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in phi2 9.961 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.961 * [taylor]: Taking taylor expansion of phi1 in phi2 9.961 * [backup-simplify]: Simplify phi1 into phi1 9.961 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in phi2 9.961 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.961 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.961 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.961 * [backup-simplify]: Simplify -0.5 into -0.5 9.961 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.961 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.961 * [taylor]: Taking taylor expansion of phi1 in phi2 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 phi2 9.962 * [taylor]: Taking taylor expansion of phi2 in phi2 9.962 * [backup-simplify]: Simplify 0 into 0 9.962 * [backup-simplify]: Simplify 1 into 1 9.962 * [backup-simplify]: Simplify (/ 1 1) into 1 9.963 * [backup-simplify]: Simplify (+ 0 1) into 1 9.963 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.963 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.963 * [taylor]: Taking taylor expansion of R in phi2 9.963 * [backup-simplify]: Simplify R into R 9.963 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.964 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.964 * [backup-simplify]: Simplify (* (pow phi1 2) (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) 9.964 * [backup-simplify]: Simplify (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) into (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) 9.965 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 R)) into 0 9.965 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.966 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0 9.967 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) (/ 0 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))))) into 0 9.967 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0 9.968 * [backup-simplify]: Simplify (+ 0 0) into 0 9.968 * [backup-simplify]: Simplify (- 0) into 0 9.968 * [backup-simplify]: Simplify (+ (/ 1 (* phi1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) 0) into (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) 9.969 * [taylor]: Taking taylor expansion of (/ 1 (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) in phi1 9.969 * [taylor]: Taking taylor expansion of (* R (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) in phi1 9.969 * [taylor]: Taking taylor expansion of R in phi1 9.969 * [backup-simplify]: Simplify R into R 9.969 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) in phi1 9.969 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.969 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.969 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.969 * [backup-simplify]: Simplify -0.5 into -0.5 9.969 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.969 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.969 * [taylor]: Taking taylor expansion of phi1 in phi1 9.969 * [backup-simplify]: Simplify 0 into 0 9.969 * [backup-simplify]: Simplify 1 into 1 9.969 * [backup-simplify]: Simplify (/ 1 1) into 1 9.969 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.969 * [taylor]: Taking taylor expansion of phi2 in phi1 9.969 * [backup-simplify]: Simplify phi2 into phi2 9.969 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.970 * [backup-simplify]: Simplify (+ 1 0) into 1 9.970 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.971 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.971 * [taylor]: Taking taylor expansion of phi1 in phi1 9.971 * [backup-simplify]: Simplify 0 into 0 9.971 * [backup-simplify]: Simplify 1 into 1 9.971 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.971 * [backup-simplify]: Simplify (* R 0) into 0 9.972 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.972 * [backup-simplify]: Simplify (+ (* R (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* 0 0)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) 9.972 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) 9.973 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)) in R 9.973 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R 9.973 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 9.973 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 9.973 * [taylor]: Taking taylor expansion of -0.5 in R 9.973 * [backup-simplify]: Simplify -0.5 into -0.5 9.973 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 9.973 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.973 * [taylor]: Taking taylor expansion of phi1 in R 9.973 * [backup-simplify]: Simplify phi1 into phi1 9.973 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.973 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.973 * [taylor]: Taking taylor expansion of phi2 in R 9.973 * [backup-simplify]: Simplify phi2 into phi2 9.973 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.973 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.973 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.973 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.974 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.974 * [taylor]: Taking taylor expansion of R in R 9.974 * [backup-simplify]: Simplify 0 into 0 9.974 * [backup-simplify]: Simplify 1 into 1 9.974 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.974 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.975 * [backup-simplify]: Simplify (- 0) into 0 9.975 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.975 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.975 * [backup-simplify]: Simplify (+ 0) into 0 9.976 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.976 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.976 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.977 * [backup-simplify]: Simplify (+ 0 0) into 0 9.977 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.978 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.979 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.979 * [backup-simplify]: Simplify (- 0) into 0 9.979 * [backup-simplify]: Simplify (+ 0 0) into 0 9.980 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.980 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.981 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.982 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.983 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.983 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.983 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.983 * [backup-simplify]: Simplify (+ 0 0) into 0 9.984 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.985 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.986 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.986 * [backup-simplify]: Simplify (- 0) into 0 9.987 * [backup-simplify]: Simplify (+ 0 0) into 0 9.988 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0 9.988 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 9.988 * [taylor]: Taking taylor expansion of 0 in phi2 9.988 * [backup-simplify]: Simplify 0 into 0 9.989 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.990 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.990 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.990 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.991 * [backup-simplify]: Simplify (+ 0 0) into 0 9.992 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.993 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.994 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.994 * [backup-simplify]: Simplify (- 0) into 0 9.994 * [backup-simplify]: Simplify (+ 0 0) into 0 9.995 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 9.996 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R)))) into 0 9.996 * [taylor]: Taking taylor expansion of 0 in phi2 9.996 * [backup-simplify]: Simplify 0 into 0 9.996 * [taylor]: Taking taylor expansion of 0 in phi1 9.996 * [backup-simplify]: Simplify 0 into 0 9.996 * [taylor]: Taking taylor expansion of 0 in phi1 9.996 * [backup-simplify]: Simplify 0 into 0 9.996 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 9.997 * [taylor]: Taking taylor expansion of 0 in phi1 9.997 * [backup-simplify]: Simplify 0 into 0 9.997 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) (/ 0 R)))) into 0 9.998 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R))) into 0 9.998 * [taylor]: Taking taylor expansion of 0 in phi1 9.998 * [backup-simplify]: Simplify 0 into 0 9.998 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) R) in R 9.998 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in R 9.998 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in R 9.998 * [taylor]: Taking taylor expansion of -0.5 in R 9.998 * [backup-simplify]: Simplify -0.5 into -0.5 9.998 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in R 9.998 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 9.998 * [taylor]: Taking taylor expansion of phi1 in R 9.998 * [backup-simplify]: Simplify phi1 into phi1 9.998 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.998 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 9.998 * [taylor]: Taking taylor expansion of phi2 in R 9.998 * [backup-simplify]: Simplify phi2 into phi2 9.998 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.998 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.999 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.999 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.999 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.999 * [taylor]: Taking taylor expansion of R in R 9.999 * [backup-simplify]: Simplify 0 into 0 9.999 * [backup-simplify]: Simplify 1 into 1 9.999 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.000 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.000 * [backup-simplify]: Simplify (- 0) into 0 10.000 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.000 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.001 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.003 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) (* (/ 1 (/ 1 (- R))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (* 1 (/ 1 (- lambda1))))))) (* (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2)))))))) into (+ (/ (* phi2 (* R phi1)) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (+ (/ (* phi2 (* lambda2 (* phi1 R))) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (* lambda2 (* (cos (* 0.5 (+ phi2 phi1))) R)))) 10.003 * * * * [progress]: [ 4 / 4 ] generating series at (2 1) 10.004 * [backup-simplify]: Simplify (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) into (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) 10.004 * [approximate]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in (lambda1 lambda2 phi2 phi1) around 0 10.004 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in phi1 10.004 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 10.004 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in phi1 10.004 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in phi1 10.004 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi1 10.004 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 10.004 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.004 * [backup-simplify]: Simplify lambda1 into lambda1 10.004 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.004 * [backup-simplify]: Simplify lambda2 into lambda2 10.004 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 10.004 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 10.004 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.004 * [backup-simplify]: Simplify 0.5 into 0.5 10.004 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 10.004 * [taylor]: Taking taylor expansion of phi2 in phi1 10.004 * [backup-simplify]: Simplify phi2 into phi2 10.004 * [taylor]: Taking taylor expansion of phi1 in phi1 10.004 * [backup-simplify]: Simplify 0 into 0 10.004 * [backup-simplify]: Simplify 1 into 1 10.005 * [backup-simplify]: Simplify (+ phi2 0) into phi2 10.005 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.005 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.005 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.005 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi1 10.005 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 10.005 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.005 * [backup-simplify]: Simplify lambda1 into lambda1 10.005 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.005 * [backup-simplify]: Simplify lambda2 into lambda2 10.005 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1 10.005 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1 10.005 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.005 * [backup-simplify]: Simplify 0.5 into 0.5 10.005 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1 10.005 * [taylor]: Taking taylor expansion of phi2 in phi1 10.005 * [backup-simplify]: Simplify phi2 into phi2 10.005 * [taylor]: Taking taylor expansion of phi1 in phi1 10.005 * [backup-simplify]: Simplify 0 into 0 10.005 * [backup-simplify]: Simplify 1 into 1 10.005 * [backup-simplify]: Simplify (+ phi2 0) into phi2 10.005 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.005 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.005 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.005 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi1 10.006 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1 10.006 * [taylor]: Taking taylor expansion of phi1 in phi1 10.006 * [backup-simplify]: Simplify 0 into 0 10.006 * [backup-simplify]: Simplify 1 into 1 10.006 * [taylor]: Taking taylor expansion of phi2 in phi1 10.006 * [backup-simplify]: Simplify phi2 into phi2 10.006 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1 10.006 * [taylor]: Taking taylor expansion of phi1 in phi1 10.006 * [backup-simplify]: Simplify 0 into 0 10.006 * [backup-simplify]: Simplify 1 into 1 10.006 * [taylor]: Taking taylor expansion of phi2 in phi1 10.006 * [backup-simplify]: Simplify phi2 into phi2 10.006 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 10.006 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 10.006 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 10.006 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 10.007 * [backup-simplify]: Simplify (- 0) into 0 10.007 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 10.007 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) 10.007 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 10.007 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 10.007 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 10.007 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 10.008 * [backup-simplify]: Simplify (- 0) into 0 10.008 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 10.008 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi2))) into (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) 10.008 * [backup-simplify]: Simplify (* (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) (* (cos (* 0.5 phi2)) (- lambda1 lambda2))) into (* (pow (cos (* 0.5 phi2)) 2) (pow (- lambda1 lambda2) 2)) 10.008 * [backup-simplify]: Simplify (- phi2) into (- phi2) 10.008 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2) 10.008 * [backup-simplify]: Simplify (- phi2) into (- phi2) 10.008 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2) 10.008 * [backup-simplify]: Simplify (* (- phi2) (- phi2)) into (pow phi2 2) 10.009 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (- lambda1 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))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 10.011 * [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))))) 10.011 * [backup-simplify]: Simplify (+ 0) into 0 10.012 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 10.012 * [backup-simplify]: Simplify (+ 0 1) into 1 10.013 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 10.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.016 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 10.016 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 10.016 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 10.017 * [backup-simplify]: Simplify (- 0) into 0 10.017 * [backup-simplify]: Simplify (+ 0 0) into 0 10.018 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) 10.018 * [backup-simplify]: Simplify (+ 0) into 0 10.019 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 10.019 * [backup-simplify]: Simplify (+ 0 1) into 1 10.020 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 10.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.023 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 10.023 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 10.023 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 10.024 * [backup-simplify]: Simplify (- 0) into 0 10.024 * [backup-simplify]: Simplify (+ 0 0) into 0 10.024 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi2))))) (* 0 (cos (* 0.5 phi2)))) into (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) 10.026 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1)))) (* (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) (* (cos (* 0.5 phi2)) (- lambda1 lambda2)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 10.026 * [backup-simplify]: Simplify (- 0) into 0 10.027 * [backup-simplify]: Simplify (+ 1 0) into 1 10.027 * [backup-simplify]: Simplify (- 0) into 0 10.027 * [backup-simplify]: Simplify (+ 1 0) into 1 10.028 * [backup-simplify]: Simplify (+ (* (- phi2) 1) (* 1 (- phi2))) into (- (* 2 phi2)) 10.029 * [backup-simplify]: Simplify (+ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2 phi2))) 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))))))) 10.033 * [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)))))))) 10.033 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in phi2 10.033 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 10.033 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in phi2 10.033 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in phi2 10.033 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi2 10.033 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 10.033 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.033 * [backup-simplify]: Simplify lambda1 into lambda1 10.033 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.033 * [backup-simplify]: Simplify lambda2 into lambda2 10.033 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.033 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.033 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.034 * [backup-simplify]: Simplify 0.5 into 0.5 10.034 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.034 * [taylor]: Taking taylor expansion of phi2 in phi2 10.034 * [backup-simplify]: Simplify 0 into 0 10.034 * [backup-simplify]: Simplify 1 into 1 10.034 * [taylor]: Taking taylor expansion of phi1 in phi2 10.034 * [backup-simplify]: Simplify phi1 into phi1 10.034 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.034 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.034 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.034 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.034 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in phi2 10.034 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 10.034 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.034 * [backup-simplify]: Simplify lambda1 into lambda1 10.034 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.034 * [backup-simplify]: Simplify lambda2 into lambda2 10.034 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.034 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.034 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.034 * [backup-simplify]: Simplify 0.5 into 0.5 10.034 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.034 * [taylor]: Taking taylor expansion of phi2 in phi2 10.034 * [backup-simplify]: Simplify 0 into 0 10.034 * [backup-simplify]: Simplify 1 into 1 10.035 * [taylor]: Taking taylor expansion of phi1 in phi2 10.035 * [backup-simplify]: Simplify phi1 into phi1 10.035 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.035 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.035 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.035 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.035 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi2 10.035 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2 10.035 * [taylor]: Taking taylor expansion of phi1 in phi2 10.035 * [backup-simplify]: Simplify phi1 into phi1 10.035 * [taylor]: Taking taylor expansion of phi2 in phi2 10.035 * [backup-simplify]: Simplify 0 into 0 10.035 * [backup-simplify]: Simplify 1 into 1 10.035 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2 10.035 * [taylor]: Taking taylor expansion of phi1 in phi2 10.035 * [backup-simplify]: Simplify phi1 into phi1 10.035 * [taylor]: Taking taylor expansion of phi2 in phi2 10.035 * [backup-simplify]: Simplify 0 into 0 10.035 * [backup-simplify]: Simplify 1 into 1 10.035 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 10.035 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 10.035 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.036 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.036 * [backup-simplify]: Simplify (- 0) into 0 10.036 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.036 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) 10.036 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 10.037 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 10.037 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.037 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.037 * [backup-simplify]: Simplify (- 0) into 0 10.037 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.037 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) 10.038 * [backup-simplify]: Simplify (* (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) (* (cos (* 0.5 phi1)) (- lambda1 lambda2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow (- lambda1 lambda2) 2)) 10.038 * [backup-simplify]: Simplify (- 0) into 0 10.038 * [backup-simplify]: Simplify (+ phi1 0) into phi1 10.039 * [backup-simplify]: Simplify (- 0) into 0 10.039 * [backup-simplify]: Simplify (+ phi1 0) into phi1 10.039 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.039 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow (- lambda1 lambda2) 2)) (pow phi1 2)) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 10.040 * [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))))) 10.041 * [backup-simplify]: Simplify (+ 0) into 0 10.041 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 10.041 * [backup-simplify]: Simplify (+ 1 0) into 1 10.042 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 10.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.044 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 10.044 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.044 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.044 * [backup-simplify]: Simplify (- 0) into 0 10.044 * [backup-simplify]: Simplify (+ 0 0) into 0 10.045 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) 10.045 * [backup-simplify]: Simplify (+ 0) into 0 10.045 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 10.045 * [backup-simplify]: Simplify (+ 1 0) into 1 10.046 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 10.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.048 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 10.048 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.048 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 10.048 * [backup-simplify]: Simplify (- 0) into 0 10.048 * [backup-simplify]: Simplify (+ 0 0) into 0 10.048 * [backup-simplify]: Simplify (+ (* (- lambda1 lambda2) (- (* 0.5 (sin (* 0.5 phi1))))) (* 0 (cos (* 0.5 phi1)))) into (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) 10.049 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1)))) (* (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) (* (cos (* 0.5 phi1)) (- lambda1 lambda2)))) 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)))))) 10.049 * [backup-simplify]: Simplify (- 1) into -1 10.050 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.050 * [backup-simplify]: Simplify (- 1) into -1 10.050 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.050 * [backup-simplify]: Simplify (+ (* phi1 -1) (* -1 phi1)) into (- (* 2 phi1)) 10.051 * [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))) 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)))) 10.053 * [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)))))))) 10.053 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda2 10.053 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 10.053 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda2 10.053 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda2 10.053 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda2 10.053 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 10.053 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.053 * [backup-simplify]: Simplify lambda1 into lambda1 10.053 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.053 * [backup-simplify]: Simplify 0 into 0 10.053 * [backup-simplify]: Simplify 1 into 1 10.053 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.053 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.053 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.053 * [backup-simplify]: Simplify 0.5 into 0.5 10.053 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.053 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.053 * [backup-simplify]: Simplify phi2 into phi2 10.053 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.053 * [backup-simplify]: Simplify phi1 into phi1 10.053 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.053 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.053 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.054 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.054 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda2 10.054 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 10.054 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.054 * [backup-simplify]: Simplify lambda1 into lambda1 10.054 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.054 * [backup-simplify]: Simplify 0 into 0 10.054 * [backup-simplify]: Simplify 1 into 1 10.054 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.054 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.054 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.054 * [backup-simplify]: Simplify 0.5 into 0.5 10.054 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.054 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.054 * [backup-simplify]: Simplify phi2 into phi2 10.054 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.054 * [backup-simplify]: Simplify phi1 into phi1 10.054 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.054 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.054 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.054 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.054 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda2 10.054 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2 10.054 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.054 * [backup-simplify]: Simplify phi1 into phi1 10.054 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.054 * [backup-simplify]: Simplify phi2 into phi2 10.054 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2 10.054 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.054 * [backup-simplify]: Simplify phi1 into phi1 10.054 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.054 * [backup-simplify]: Simplify phi2 into phi2 10.054 * [backup-simplify]: Simplify (- 0) into 0 10.055 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 10.055 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.055 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.055 * [backup-simplify]: Simplify (- 0) into 0 10.055 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.055 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi2 phi1)))) into (* (cos (* 0.5 (+ phi2 phi1))) lambda1) 10.055 * [backup-simplify]: Simplify (- 0) into 0 10.055 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 10.055 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.056 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.056 * [backup-simplify]: Simplify (- 0) into 0 10.056 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.056 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ phi2 phi1)))) into (* (cos (* 0.5 (+ phi2 phi1))) lambda1) 10.056 * [backup-simplify]: Simplify (* (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 10.056 * [backup-simplify]: Simplify (- phi2) into (- phi2) 10.056 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 10.056 * [backup-simplify]: Simplify (- phi2) into (- phi2) 10.056 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 10.056 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 10.057 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1))) 10.057 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))) 10.058 * [backup-simplify]: Simplify (+ 0) into 0 10.058 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 10.058 * [backup-simplify]: Simplify (+ 0 0) into 0 10.058 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 10.059 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.059 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 10.060 * [backup-simplify]: Simplify (- 0) into 0 10.060 * [backup-simplify]: Simplify (+ 0 0) into 0 10.060 * [backup-simplify]: Simplify (- 1) into -1 10.060 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.060 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi2 phi1))))) into (- (cos (* 0.5 (+ phi2 phi1)))) 10.061 * [backup-simplify]: Simplify (+ 0) into 0 10.061 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 10.061 * [backup-simplify]: Simplify (+ 0 0) into 0 10.062 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 10.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.062 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 10.063 * [backup-simplify]: Simplify (- 0) into 0 10.063 * [backup-simplify]: Simplify (+ 0 0) into 0 10.063 * [backup-simplify]: Simplify (- 1) into -1 10.063 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.063 * [backup-simplify]: Simplify (+ (* lambda1 0) (* -1 (cos (* 0.5 (+ phi2 phi1))))) into (- (cos (* 0.5 (+ phi2 phi1)))) 10.064 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (- (cos (* 0.5 (+ phi2 phi1))))) (* (- (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 10.064 * [backup-simplify]: Simplify (- 0) into 0 10.064 * [backup-simplify]: Simplify (+ 0 0) into 0 10.065 * [backup-simplify]: Simplify (- 0) into 0 10.065 * [backup-simplify]: Simplify (+ 0 0) into 0 10.065 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 10.065 * [backup-simplify]: Simplify (+ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 0) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 10.066 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* phi2 phi1))))))) 10.066 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda1 10.066 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 10.066 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1 10.066 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda1 10.066 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 10.066 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 10.066 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.066 * [backup-simplify]: Simplify 0 into 0 10.066 * [backup-simplify]: Simplify 1 into 1 10.066 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.066 * [backup-simplify]: Simplify lambda2 into lambda2 10.066 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 10.066 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 10.066 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.066 * [backup-simplify]: Simplify 0.5 into 0.5 10.066 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 10.066 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.066 * [backup-simplify]: Simplify phi2 into phi2 10.067 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.067 * [backup-simplify]: Simplify phi1 into phi1 10.067 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.067 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.067 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.067 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.067 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 10.067 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 10.067 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.067 * [backup-simplify]: Simplify 0 into 0 10.067 * [backup-simplify]: Simplify 1 into 1 10.067 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.067 * [backup-simplify]: Simplify lambda2 into lambda2 10.067 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 10.067 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 10.067 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.067 * [backup-simplify]: Simplify 0.5 into 0.5 10.067 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 10.067 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.067 * [backup-simplify]: Simplify phi2 into phi2 10.067 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.067 * [backup-simplify]: Simplify phi1 into phi1 10.067 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.067 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.067 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.067 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.067 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1 10.067 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 10.067 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.067 * [backup-simplify]: Simplify phi1 into phi1 10.067 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.067 * [backup-simplify]: Simplify phi2 into phi2 10.067 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 10.067 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.067 * [backup-simplify]: Simplify phi1 into phi1 10.067 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.067 * [backup-simplify]: Simplify phi2 into phi2 10.067 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 10.067 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 10.068 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.068 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.068 * [backup-simplify]: Simplify (- 0) into 0 10.068 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.068 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 10.068 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 10.068 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 10.068 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.069 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.069 * [backup-simplify]: Simplify (- 0) into 0 10.069 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.069 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 10.070 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 10.070 * [backup-simplify]: Simplify (- phi2) into (- phi2) 10.070 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 10.070 * [backup-simplify]: Simplify (- phi2) into (- phi2) 10.070 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 10.070 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 10.071 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 10.072 * [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)))) 10.072 * [backup-simplify]: Simplify (+ 0) into 0 10.073 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 10.073 * [backup-simplify]: Simplify (+ 0 0) into 0 10.074 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 10.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.075 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 10.076 * [backup-simplify]: Simplify (- 0) into 0 10.076 * [backup-simplify]: Simplify (+ 0 0) into 0 10.076 * [backup-simplify]: Simplify (- 0) into 0 10.077 * [backup-simplify]: Simplify (+ 1 0) into 1 10.077 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 10.077 * [backup-simplify]: Simplify (+ 0) into 0 10.078 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 10.078 * [backup-simplify]: Simplify (+ 0 0) into 0 10.079 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 10.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.080 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 10.081 * [backup-simplify]: Simplify (- 0) into 0 10.081 * [backup-simplify]: Simplify (+ 0 0) into 0 10.081 * [backup-simplify]: Simplify (- 0) into 0 10.082 * [backup-simplify]: Simplify (+ 1 0) into 1 10.082 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 10.083 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 10.083 * [backup-simplify]: Simplify (- 0) into 0 10.084 * [backup-simplify]: Simplify (+ 0 0) into 0 10.084 * [backup-simplify]: Simplify (- 0) into 0 10.084 * [backup-simplify]: Simplify (+ 0 0) into 0 10.084 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 10.085 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 10.085 * [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)))) 10.085 * [taylor]: Taking taylor expansion of (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) in lambda1 10.085 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2)))) 10.085 * [taylor]: Taking taylor expansion of (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1 10.086 * [taylor]: Taking taylor expansion of (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) in lambda1 10.086 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 10.086 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 10.086 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.086 * [backup-simplify]: Simplify 0 into 0 10.086 * [backup-simplify]: Simplify 1 into 1 10.086 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.086 * [backup-simplify]: Simplify lambda2 into lambda2 10.086 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 10.086 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 10.086 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.086 * [backup-simplify]: Simplify 0.5 into 0.5 10.086 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 10.086 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.086 * [backup-simplify]: Simplify phi2 into phi2 10.086 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.086 * [backup-simplify]: Simplify phi1 into phi1 10.086 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.086 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.086 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.086 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.086 * [taylor]: Taking taylor expansion of (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) in lambda1 10.086 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 10.086 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.086 * [backup-simplify]: Simplify 0 into 0 10.086 * [backup-simplify]: Simplify 1 into 1 10.086 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.086 * [backup-simplify]: Simplify lambda2 into lambda2 10.086 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1 10.086 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1 10.086 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.086 * [backup-simplify]: Simplify 0.5 into 0.5 10.086 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1 10.086 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.086 * [backup-simplify]: Simplify phi2 into phi2 10.086 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.086 * [backup-simplify]: Simplify phi1 into phi1 10.086 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.086 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.086 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.086 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.086 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1 10.086 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 10.087 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.087 * [backup-simplify]: Simplify phi1 into phi1 10.087 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.087 * [backup-simplify]: Simplify phi2 into phi2 10.087 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 10.087 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.087 * [backup-simplify]: Simplify phi1 into phi1 10.087 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.087 * [backup-simplify]: Simplify phi2 into phi2 10.087 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 10.087 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 10.087 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.087 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.087 * [backup-simplify]: Simplify (- 0) into 0 10.087 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.087 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 10.087 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 10.087 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 10.088 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.088 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.088 * [backup-simplify]: Simplify (- 0) into 0 10.088 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.088 * [backup-simplify]: Simplify (* (- lambda2) (cos (* 0.5 (+ phi2 phi1)))) into (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 10.088 * [backup-simplify]: Simplify (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) 10.088 * [backup-simplify]: Simplify (- phi2) into (- phi2) 10.088 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 10.088 * [backup-simplify]: Simplify (- phi2) into (- phi2) 10.088 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 10.088 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 10.089 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) 10.089 * [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)))) 10.090 * [backup-simplify]: Simplify (+ 0) into 0 10.090 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 10.090 * [backup-simplify]: Simplify (+ 0 0) into 0 10.091 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 10.091 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.092 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 10.092 * [backup-simplify]: Simplify (- 0) into 0 10.092 * [backup-simplify]: Simplify (+ 0 0) into 0 10.092 * [backup-simplify]: Simplify (- 0) into 0 10.093 * [backup-simplify]: Simplify (+ 1 0) into 1 10.093 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 10.093 * [backup-simplify]: Simplify (+ 0) into 0 10.093 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 10.094 * [backup-simplify]: Simplify (+ 0 0) into 0 10.094 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 10.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.095 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 10.095 * [backup-simplify]: Simplify (- 0) into 0 10.095 * [backup-simplify]: Simplify (+ 0 0) into 0 10.098 * [backup-simplify]: Simplify (- 0) into 0 10.099 * [backup-simplify]: Simplify (+ 1 0) into 1 10.099 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (* 1 (cos (* 0.5 (+ phi2 phi1))))) into (cos (* 0.5 (+ phi2 phi1))) 10.099 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* 0.5 (+ phi2 phi1))) (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 10.100 * [backup-simplify]: Simplify (- 0) into 0 10.100 * [backup-simplify]: Simplify (+ 0 0) into 0 10.100 * [backup-simplify]: Simplify (- 0) into 0 10.100 * [backup-simplify]: Simplify (+ 0 0) into 0 10.101 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 10.101 * [backup-simplify]: Simplify (+ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 0) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 10.102 * [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)))) 10.102 * [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 10.102 * [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 10.102 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 10.102 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 10.102 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.102 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.102 * [backup-simplify]: Simplify 0 into 0 10.102 * [backup-simplify]: Simplify 1 into 1 10.102 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 10.102 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.102 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.102 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.102 * [backup-simplify]: Simplify 0.5 into 0.5 10.102 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.102 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.102 * [backup-simplify]: Simplify phi2 into phi2 10.102 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.102 * [backup-simplify]: Simplify phi1 into phi1 10.102 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.102 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.102 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.102 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.102 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.102 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.103 * [backup-simplify]: Simplify (- 0) into 0 10.103 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.103 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 10.103 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 10.103 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.103 * [backup-simplify]: Simplify phi1 into phi1 10.103 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 10.103 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.103 * [backup-simplify]: Simplify phi2 into phi2 10.103 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 10.103 * [taylor]: Taking taylor expansion of 2 in lambda2 10.103 * [backup-simplify]: Simplify 2 into 2 10.103 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 10.103 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.103 * [backup-simplify]: Simplify phi2 into phi2 10.103 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.103 * [backup-simplify]: Simplify phi1 into phi1 10.103 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.103 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.103 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 10.104 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 10.104 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 10.104 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 10.104 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 10.104 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 10.104 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 10.104 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.104 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 10.105 * [backup-simplify]: Simplify (+ 0 0) into 0 10.105 * [backup-simplify]: Simplify (+ 0 0) into 0 10.105 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 10.105 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 10.105 * [backup-simplify]: Simplify (- 0) into 0 10.106 * [backup-simplify]: Simplify (+ 0 0) into 0 10.106 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 10.106 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi2 10.106 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi2 10.106 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi2 10.106 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 10.106 * [taylor]: Taking taylor expansion of phi2 in phi2 10.106 * [backup-simplify]: Simplify 0 into 0 10.106 * [backup-simplify]: Simplify 1 into 1 10.106 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 10.106 * [taylor]: Taking taylor expansion of phi1 in phi2 10.106 * [backup-simplify]: Simplify phi1 into phi1 10.106 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 10.106 * [taylor]: Taking taylor expansion of 2 in phi2 10.106 * [backup-simplify]: Simplify 2 into 2 10.106 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 10.106 * [taylor]: Taking taylor expansion of phi2 in phi2 10.106 * [backup-simplify]: Simplify 0 into 0 10.106 * [backup-simplify]: Simplify 1 into 1 10.106 * [taylor]: Taking taylor expansion of phi1 in phi2 10.106 * [backup-simplify]: Simplify phi1 into phi1 10.106 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.106 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 10.106 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.107 * [backup-simplify]: Simplify (* 2 0) into 0 10.107 * [backup-simplify]: Simplify (- 0) into 0 10.107 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 10.107 * [backup-simplify]: Simplify (sqrt (pow phi1 2)) into phi1 10.107 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.107 * [backup-simplify]: Simplify (+ 0 0) into 0 10.108 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.108 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 10.108 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 10.108 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi1))) into (- (* 2 phi1)) 10.108 * [backup-simplify]: Simplify (/ (- (* 2 phi1)) (* 2 (sqrt (pow phi1 2)))) into -1 10.108 * [taylor]: Taking taylor expansion of phi1 in phi1 10.108 * [backup-simplify]: Simplify 0 into 0 10.108 * [backup-simplify]: Simplify 1 into 1 10.108 * [backup-simplify]: Simplify 0 into 0 10.108 * [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 10.108 * [taylor]: Taking taylor expansion of -1 in lambda2 10.108 * [backup-simplify]: Simplify -1 into -1 10.108 * [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 10.109 * [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 10.109 * [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 10.109 * [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 10.109 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 10.109 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 10.109 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.109 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.109 * [backup-simplify]: Simplify 0 into 0 10.109 * [backup-simplify]: Simplify 1 into 1 10.109 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 10.109 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.109 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.109 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.109 * [backup-simplify]: Simplify 0.5 into 0.5 10.109 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.109 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.109 * [backup-simplify]: Simplify phi2 into phi2 10.109 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.109 * [backup-simplify]: Simplify phi1 into phi1 10.109 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.109 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.109 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.109 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.109 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.109 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.110 * [backup-simplify]: Simplify (- 0) into 0 10.110 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.110 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 10.110 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 10.110 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.110 * [backup-simplify]: Simplify phi1 into phi1 10.110 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 10.110 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.110 * [backup-simplify]: Simplify phi2 into phi2 10.110 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 10.110 * [taylor]: Taking taylor expansion of 2 in lambda2 10.110 * [backup-simplify]: Simplify 2 into 2 10.110 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 10.110 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.110 * [backup-simplify]: Simplify phi2 into phi2 10.110 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.110 * [backup-simplify]: Simplify phi1 into phi1 10.110 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.110 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.110 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 10.110 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 10.110 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 10.110 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 10.110 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 10.111 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 10.111 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 10.111 * [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))))) 10.111 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.111 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 10.112 * [backup-simplify]: Simplify (+ 0 0) into 0 10.112 * [backup-simplify]: Simplify (+ 0 0) into 0 10.112 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 10.112 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 10.113 * [backup-simplify]: Simplify (- 0) into 0 10.113 * [backup-simplify]: Simplify (+ 0 0) into 0 10.114 * [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 10.115 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 10.115 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 10.115 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.115 * [backup-simplify]: Simplify 0 into 0 10.115 * [backup-simplify]: Simplify 1 into 1 10.115 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 10.115 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.115 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.115 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.115 * [backup-simplify]: Simplify 0.5 into 0.5 10.115 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.115 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.115 * [backup-simplify]: Simplify phi2 into phi2 10.115 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.115 * [backup-simplify]: Simplify phi1 into phi1 10.115 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.115 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.116 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.116 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.116 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.116 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.116 * [backup-simplify]: Simplify (- 0) into 0 10.116 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.117 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 10.117 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0 10.117 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 10.118 * [backup-simplify]: Simplify (* -1 0) into 0 10.118 * [taylor]: Taking taylor expansion of 0 in phi2 10.118 * [backup-simplify]: Simplify 0 into 0 10.118 * [taylor]: Taking taylor expansion of 0 in phi1 10.118 * [backup-simplify]: Simplify 0 into 0 10.118 * [backup-simplify]: Simplify 0 into 0 10.118 * [taylor]: Taking taylor expansion of 0 in phi2 10.118 * [backup-simplify]: Simplify 0 into 0 10.118 * [taylor]: Taking taylor expansion of 0 in phi1 10.118 * [backup-simplify]: Simplify 0 into 0 10.118 * [backup-simplify]: Simplify 0 into 0 10.118 * [taylor]: Taking taylor expansion of -1 in phi1 10.118 * [backup-simplify]: Simplify -1 into -1 10.118 * [backup-simplify]: Simplify -1 into -1 10.118 * [backup-simplify]: Simplify 1 into 1 10.119 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.120 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 10.120 * [backup-simplify]: Simplify (+ 0 0) into 0 10.121 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 10.122 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.123 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 10.123 * [backup-simplify]: Simplify (- 0) into 0 10.123 * [backup-simplify]: Simplify (+ 0 0) into 0 10.124 * [backup-simplify]: Simplify (- 0) into 0 10.124 * [backup-simplify]: Simplify (+ 0 0) into 0 10.125 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 10.126 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.127 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0 10.127 * [backup-simplify]: Simplify (+ 0 0) into 0 10.128 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0 10.129 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.129 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0 10.130 * [backup-simplify]: Simplify (- 0) into 0 10.130 * [backup-simplify]: Simplify (+ 0 0) into 0 10.131 * [backup-simplify]: Simplify (- 0) into 0 10.131 * [backup-simplify]: Simplify (+ 0 0) into 0 10.132 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0 10.132 * [backup-simplify]: Simplify (+ (* (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 0) (+ (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (* 0 (* -1 (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 10.133 * [backup-simplify]: Simplify (- 0) into 0 10.133 * [backup-simplify]: Simplify (+ 0 0) into 0 10.133 * [backup-simplify]: Simplify (- 0) into 0 10.134 * [backup-simplify]: Simplify (+ 0 0) into 0 10.134 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (+ (* 0 0) (* 0 (- phi1 phi2)))) into 0 10.135 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 10.138 * [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))))))) 10.138 * [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 10.138 * [taylor]: Taking taylor expansion of 1/2 in lambda2 10.138 * [backup-simplify]: Simplify 1/2 into 1/2 10.138 * [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 10.138 * [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 10.138 * [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 10.138 * [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 10.138 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 10.138 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 10.138 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.139 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.139 * [backup-simplify]: Simplify 0 into 0 10.139 * [backup-simplify]: Simplify 1 into 1 10.139 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 10.139 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.139 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.139 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.139 * [backup-simplify]: Simplify 0.5 into 0.5 10.139 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.139 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.139 * [backup-simplify]: Simplify phi2 into phi2 10.139 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.139 * [backup-simplify]: Simplify phi1 into phi1 10.139 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.139 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.139 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.139 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.139 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.140 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.140 * [backup-simplify]: Simplify (- 0) into 0 10.140 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.140 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 10.140 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 10.140 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.140 * [backup-simplify]: Simplify phi2 into phi2 10.140 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 10.140 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.141 * [backup-simplify]: Simplify phi1 into phi1 10.141 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 10.141 * [taylor]: Taking taylor expansion of 2 in lambda2 10.141 * [backup-simplify]: Simplify 2 into 2 10.141 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 10.141 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.141 * [backup-simplify]: Simplify phi2 into phi2 10.141 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.141 * [backup-simplify]: Simplify phi1 into phi1 10.141 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.141 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.141 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 10.142 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 10.142 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 10.142 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 10.142 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 10.142 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 10.143 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) 10.143 * [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))))) 10.144 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 10.144 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.144 * [backup-simplify]: Simplify (+ 0 0) into 0 10.145 * [backup-simplify]: Simplify (+ 0 0) into 0 10.145 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 10.146 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 10.146 * [backup-simplify]: Simplify (- 0) into 0 10.146 * [backup-simplify]: Simplify (+ 0 0) into 0 10.147 * [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 10.148 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0 10.148 * [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 10.148 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 10.148 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.148 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.148 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.148 * [backup-simplify]: Simplify 0.5 into 0.5 10.148 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.148 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.148 * [backup-simplify]: Simplify phi2 into phi2 10.148 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.148 * [backup-simplify]: Simplify phi1 into phi1 10.149 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.149 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.149 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.149 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.149 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.149 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.150 * [backup-simplify]: Simplify (- 0) into 0 10.150 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.150 * [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 10.150 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2 10.150 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.150 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.150 * [backup-simplify]: Simplify 0 into 0 10.150 * [backup-simplify]: Simplify 1 into 1 10.150 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2 10.150 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.150 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.150 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.150 * [backup-simplify]: Simplify 0.5 into 0.5 10.150 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.150 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.150 * [backup-simplify]: Simplify phi2 into phi2 10.150 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.150 * [backup-simplify]: Simplify phi1 into phi1 10.150 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.150 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.150 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.151 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.151 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.151 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.151 * [backup-simplify]: Simplify (- 0) into 0 10.151 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.151 * [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 10.151 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2 10.151 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2 10.151 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 10.151 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.152 * [backup-simplify]: Simplify 0 into 0 10.152 * [backup-simplify]: Simplify 1 into 1 10.152 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2 10.152 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2 10.152 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2 10.152 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.152 * [backup-simplify]: Simplify 0.5 into 0.5 10.152 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2 10.152 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.152 * [backup-simplify]: Simplify phi2 into phi2 10.152 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.152 * [backup-simplify]: Simplify phi1 into phi1 10.152 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1) 10.152 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1)) 10.152 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1))) 10.152 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1))) 10.152 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1))) 10.152 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0 10.153 * [backup-simplify]: Simplify (- 0) into 0 10.153 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1))) 10.153 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2 10.153 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 10.153 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.153 * [backup-simplify]: Simplify phi2 into phi2 10.153 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 10.153 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.153 * [backup-simplify]: Simplify phi1 into phi1 10.153 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 10.153 * [taylor]: Taking taylor expansion of 2 in lambda2 10.154 * [backup-simplify]: Simplify 2 into 2 10.154 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 10.154 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.154 * [backup-simplify]: Simplify phi2 into phi2 10.154 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.154 * [backup-simplify]: Simplify phi1 into phi1 10.154 * [backup-simplify]: Simplify (* 1 1) into 1 10.154 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 10.155 * [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) 10.155 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4) 10.155 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.155 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.155 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2)) 10.155 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2)) 10.156 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 10.156 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 10.156 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 10.156 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) 10.157 * [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)))) 10.157 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 10.157 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 10.158 * [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)))))) 10.158 * [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))))))) 10.158 * [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 phi2 10.158 * [taylor]: Taking taylor expansion of 1/2 in phi2 10.158 * [backup-simplify]: Simplify 1/2 into 1/2 10.158 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))))) in phi2 10.158 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 10.158 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.158 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.158 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.159 * [backup-simplify]: Simplify 0.5 into 0.5 10.159 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.159 * [taylor]: Taking taylor expansion of phi2 in phi2 10.159 * [backup-simplify]: Simplify 0 into 0 10.159 * [backup-simplify]: Simplify 1 into 1 10.159 * [taylor]: Taking taylor expansion of phi1 in phi2 10.159 * [backup-simplify]: Simplify phi1 into phi1 10.159 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.159 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.159 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.159 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.159 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.159 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.160 * [backup-simplify]: Simplify (- 0) into 0 10.160 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.160 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi2 10.160 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi2 10.160 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi2 10.160 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi2 10.160 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 10.160 * [taylor]: Taking taylor expansion of phi1 in phi2 10.160 * [backup-simplify]: Simplify phi1 into phi1 10.160 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 10.160 * [taylor]: Taking taylor expansion of phi2 in phi2 10.160 * [backup-simplify]: Simplify 0 into 0 10.160 * [backup-simplify]: Simplify 1 into 1 10.160 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 10.160 * [taylor]: Taking taylor expansion of 2 in phi2 10.160 * [backup-simplify]: Simplify 2 into 2 10.160 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 10.160 * [taylor]: Taking taylor expansion of phi2 in phi2 10.160 * [backup-simplify]: Simplify 0 into 0 10.160 * [backup-simplify]: Simplify 1 into 1 10.160 * [taylor]: Taking taylor expansion of phi1 in phi2 10.160 * [backup-simplify]: Simplify phi1 into phi1 10.160 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.160 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 10.160 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.161 * [backup-simplify]: Simplify (* 2 0) into 0 10.161 * [backup-simplify]: Simplify (- 0) into 0 10.161 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 10.161 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.162 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi1 2))) into (/ 1 phi1) 10.162 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.162 * [backup-simplify]: Simplify (+ 0 0) into 0 10.163 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.163 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 10.163 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 10.163 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi1))) into (- (* 2 phi1)) 10.163 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ (- (* 2 phi1)) (pow phi1 2))))) into (* 2 (/ 1 (pow phi1 3))) 10.164 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi1 3))) (* 2 (sqrt (/ 1 (pow phi1 2))))) into (/ 1 (pow phi1 2)) 10.164 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 10.164 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (/ 1 phi1)) into (/ (pow (cos (* 0.5 phi1)) 2) phi1) 10.165 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1)) into (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1)) 10.165 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1)) in phi1 10.165 * [taylor]: Taking taylor expansion of 1/2 in phi1 10.165 * [backup-simplify]: Simplify 1/2 into 1/2 10.165 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi1)) 2) phi1) in phi1 10.165 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 10.165 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.165 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.165 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.165 * [backup-simplify]: Simplify 0.5 into 0.5 10.165 * [taylor]: Taking taylor expansion of phi1 in phi1 10.165 * [backup-simplify]: Simplify 0 into 0 10.165 * [backup-simplify]: Simplify 1 into 1 10.165 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.167 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.167 * [taylor]: Taking taylor expansion of phi1 in phi1 10.167 * [backup-simplify]: Simplify 0 into 0 10.167 * [backup-simplify]: Simplify 1 into 1 10.167 * [backup-simplify]: Simplify (* 1 1) into 1 10.168 * [backup-simplify]: Simplify (/ 1 1) into 1 10.168 * [backup-simplify]: Simplify (+ 0) into 0 10.169 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.169 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 10.170 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 10.170 * [backup-simplify]: Simplify 0 into 0 10.171 * [backup-simplify]: Simplify (+ 0) into 0 10.171 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0 10.171 * [backup-simplify]: Simplify (+ 0 0) into 0 10.172 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0 10.173 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.173 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0 10.173 * [backup-simplify]: Simplify (- 0) into 0 10.174 * [backup-simplify]: Simplify (+ 0 0) into 0 10.174 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0 10.175 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 10.176 * [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)) 10.177 * [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))) 10.177 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in phi2 10.177 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 10.177 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi2 10.177 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi2 10.177 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi2 10.177 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi2 10.177 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 10.177 * [taylor]: Taking taylor expansion of phi2 in phi2 10.177 * [backup-simplify]: Simplify 0 into 0 10.177 * [backup-simplify]: Simplify 1 into 1 10.177 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 10.177 * [taylor]: Taking taylor expansion of phi1 in phi2 10.177 * [backup-simplify]: Simplify phi1 into phi1 10.177 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 10.177 * [taylor]: Taking taylor expansion of 2 in phi2 10.177 * [backup-simplify]: Simplify 2 into 2 10.177 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 10.177 * [taylor]: Taking taylor expansion of phi2 in phi2 10.177 * [backup-simplify]: Simplify 0 into 0 10.177 * [backup-simplify]: Simplify 1 into 1 10.177 * [taylor]: Taking taylor expansion of phi1 in phi2 10.177 * [backup-simplify]: Simplify phi1 into phi1 10.177 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.178 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 10.178 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.178 * [backup-simplify]: Simplify (* 2 0) into 0 10.178 * [backup-simplify]: Simplify (- 0) into 0 10.179 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 10.179 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.179 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi1 2))) into (/ 1 phi1) 10.179 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.179 * [backup-simplify]: Simplify (+ 0 0) into 0 10.180 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.180 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 10.180 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 10.180 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi1))) into (- (* 2 phi1)) 10.181 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ (- (* 2 phi1)) (pow phi1 2))))) into (* 2 (/ 1 (pow phi1 3))) 10.181 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi1 3))) (* 2 (sqrt (/ 1 (pow phi1 2))))) into (/ 1 (pow phi1 2)) 10.181 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 10.181 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.181 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.181 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.181 * [backup-simplify]: Simplify 0.5 into 0.5 10.181 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.181 * [taylor]: Taking taylor expansion of phi2 in phi2 10.181 * [backup-simplify]: Simplify 0 into 0 10.181 * [backup-simplify]: Simplify 1 into 1 10.181 * [taylor]: Taking taylor expansion of phi1 in phi2 10.181 * [backup-simplify]: Simplify phi1 into phi1 10.181 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.181 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.181 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.181 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.182 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.182 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.182 * [backup-simplify]: Simplify (- 0) into 0 10.182 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.182 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 10.182 * [backup-simplify]: Simplify (* (/ 1 phi1) (pow (cos (* 0.5 phi1)) 2)) into (/ (pow (cos (* 0.5 phi1)) 2) phi1) 10.183 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi1)) 2) phi1)) into (- (/ (pow (cos (* 0.5 phi1)) 2) phi1)) 10.183 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi1)) 2) phi1)) in phi1 10.183 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi1)) 2) phi1) in phi1 10.183 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 10.183 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.183 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.183 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.183 * [backup-simplify]: Simplify 0.5 into 0.5 10.183 * [taylor]: Taking taylor expansion of phi1 in phi1 10.183 * [backup-simplify]: Simplify 0 into 0 10.183 * [backup-simplify]: Simplify 1 into 1 10.183 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.185 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.185 * [taylor]: Taking taylor expansion of phi1 in phi1 10.185 * [backup-simplify]: Simplify 0 into 0 10.185 * [backup-simplify]: Simplify 1 into 1 10.185 * [backup-simplify]: Simplify (* 1 1) into 1 10.186 * [backup-simplify]: Simplify (/ 1 1) into 1 10.186 * [backup-simplify]: Simplify (+ 0) into 0 10.187 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.187 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 10.188 * [backup-simplify]: Simplify (- 0) into 0 10.188 * [backup-simplify]: Simplify 0 into 0 10.188 * [backup-simplify]: Simplify (* 1 1) into 1 10.188 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 10.189 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 10.189 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 10.190 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 10.190 * [backup-simplify]: Simplify (+ 0 0) into 0 10.190 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 10.191 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0 10.191 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0 10.192 * [backup-simplify]: Simplify (- 0) into 0 10.192 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2) 10.193 * [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))) 10.193 * [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 phi2 10.193 * [taylor]: Taking taylor expansion of 1/2 in phi2 10.193 * [backup-simplify]: Simplify 1/2 into 1/2 10.194 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2 10.194 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi2 10.194 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi2 10.194 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi2 10.194 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi2 10.194 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 10.194 * [taylor]: Taking taylor expansion of phi2 in phi2 10.194 * [backup-simplify]: Simplify 0 into 0 10.194 * [backup-simplify]: Simplify 1 into 1 10.194 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 10.194 * [taylor]: Taking taylor expansion of phi1 in phi2 10.194 * [backup-simplify]: Simplify phi1 into phi1 10.194 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 10.194 * [taylor]: Taking taylor expansion of 2 in phi2 10.194 * [backup-simplify]: Simplify 2 into 2 10.194 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 10.194 * [taylor]: Taking taylor expansion of phi2 in phi2 10.194 * [backup-simplify]: Simplify 0 into 0 10.194 * [backup-simplify]: Simplify 1 into 1 10.194 * [taylor]: Taking taylor expansion of phi1 in phi2 10.194 * [backup-simplify]: Simplify phi1 into phi1 10.194 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.194 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 10.194 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.195 * [backup-simplify]: Simplify (* 2 0) into 0 10.195 * [backup-simplify]: Simplify (- 0) into 0 10.195 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 10.195 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.196 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi1 2))) into (/ 1 phi1) 10.196 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.196 * [backup-simplify]: Simplify (+ 0 0) into 0 10.196 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.197 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 10.197 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 10.197 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi1))) into (- (* 2 phi1)) 10.197 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ (- (* 2 phi1)) (pow phi1 2))))) into (* 2 (/ 1 (pow phi1 3))) 10.198 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi1 3))) (* 2 (sqrt (/ 1 (pow phi1 2))))) into (/ 1 (pow phi1 2)) 10.198 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2 10.198 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2 10.198 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2 10.198 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.198 * [backup-simplify]: Simplify 0.5 into 0.5 10.198 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2 10.198 * [taylor]: Taking taylor expansion of phi2 in phi2 10.198 * [backup-simplify]: Simplify 0 into 0 10.198 * [backup-simplify]: Simplify 1 into 1 10.198 * [taylor]: Taking taylor expansion of phi1 in phi2 10.198 * [backup-simplify]: Simplify phi1 into phi1 10.198 * [backup-simplify]: Simplify (+ 0 phi1) into phi1 10.198 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.198 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.198 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.199 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 10.199 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 10.199 * [backup-simplify]: Simplify (- 0) into 0 10.199 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 10.199 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 10.200 * [backup-simplify]: Simplify (* (/ 1 phi1) (pow (cos (* 0.5 phi1)) 2)) into (/ (pow (cos (* 0.5 phi1)) 2) phi1) 10.200 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1)) into (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1)) 10.200 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi1)) 2) phi1)) in phi1 10.200 * [taylor]: Taking taylor expansion of 1/2 in phi1 10.200 * [backup-simplify]: Simplify 1/2 into 1/2 10.200 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi1)) 2) phi1) in phi1 10.200 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 10.200 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 10.200 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 10.200 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.200 * [backup-simplify]: Simplify 0.5 into 0.5 10.200 * [taylor]: Taking taylor expansion of phi1 in phi1 10.200 * [backup-simplify]: Simplify 0 into 0 10.200 * [backup-simplify]: Simplify 1 into 1 10.201 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.202 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.202 * [taylor]: Taking taylor expansion of phi1 in phi1 10.202 * [backup-simplify]: Simplify 0 into 0 10.202 * [backup-simplify]: Simplify 1 into 1 10.203 * [backup-simplify]: Simplify (* 1 1) into 1 10.203 * [backup-simplify]: Simplify (/ 1 1) into 1 10.203 * [backup-simplify]: Simplify (+ 0) into 0 10.204 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.205 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 10.206 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 10.206 * [backup-simplify]: Simplify 0 into 0 10.206 * [taylor]: Taking taylor expansion of 0 in phi1 10.206 * [backup-simplify]: Simplify 0 into 0 10.206 * [backup-simplify]: Simplify 0 into 0 10.206 * [taylor]: Taking taylor expansion of 0 in phi1 10.206 * [backup-simplify]: Simplify 0 into 0 10.206 * [backup-simplify]: Simplify 0 into 0 10.207 * [backup-simplify]: Simplify (* 1 1) into 1 10.207 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 10.208 * [backup-simplify]: Simplify (+ 1 0) into 1 10.208 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0 10.209 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0 10.210 * [backup-simplify]: Simplify (- 0) into 0 10.210 * [backup-simplify]: Simplify (+ 1 0) into 1 10.211 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi1)) into 0 10.211 * [taylor]: Taking taylor expansion of 0 in phi1 10.211 * [backup-simplify]: Simplify 0 into 0 10.211 * [backup-simplify]: Simplify 0 into 0 10.212 * [backup-simplify]: Simplify (+ (* 1 (* phi1 (* 1 (* 1 1)))) (* -1 (* 1 (* phi2 (* 1 1))))) into (- phi1 phi2) 10.213 * [backup-simplify]: Simplify (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1))))) (- (/ 1 phi1) (/ 1 phi2))) into (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) 10.213 * [approximate]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in (lambda1 lambda2 phi2 phi1) around 0 10.213 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in phi1 10.213 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 10.213 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi1 10.213 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 10.213 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 10.213 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 10.213 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 10.213 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.213 * [backup-simplify]: Simplify lambda1 into lambda1 10.213 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.213 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 10.213 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.213 * [backup-simplify]: Simplify lambda2 into lambda2 10.213 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.213 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.214 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.214 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.214 * [backup-simplify]: Simplify 0.5 into 0.5 10.214 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.214 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.214 * [taylor]: Taking taylor expansion of phi1 in phi1 10.214 * [backup-simplify]: Simplify 0 into 0 10.214 * [backup-simplify]: Simplify 1 into 1 10.214 * [backup-simplify]: Simplify (/ 1 1) into 1 10.214 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.214 * [taylor]: Taking taylor expansion of phi2 in phi1 10.214 * [backup-simplify]: Simplify phi2 into phi2 10.214 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.215 * [backup-simplify]: Simplify (+ 1 0) into 1 10.215 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.216 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.216 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 10.216 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 10.216 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 10.216 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.216 * [backup-simplify]: Simplify lambda1 into lambda1 10.216 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.216 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 10.216 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.216 * [backup-simplify]: Simplify lambda2 into lambda2 10.216 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.216 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.216 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.216 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.216 * [backup-simplify]: Simplify 0.5 into 0.5 10.216 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.216 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.216 * [taylor]: Taking taylor expansion of phi1 in phi1 10.216 * [backup-simplify]: Simplify 0 into 0 10.216 * [backup-simplify]: Simplify 1 into 1 10.216 * [backup-simplify]: Simplify (/ 1 1) into 1 10.216 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.217 * [taylor]: Taking taylor expansion of phi2 in phi1 10.217 * [backup-simplify]: Simplify phi2 into phi2 10.217 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.217 * [backup-simplify]: Simplify (+ 1 0) into 1 10.217 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.217 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.217 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi1 10.217 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1 10.217 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.217 * [taylor]: Taking taylor expansion of phi1 in phi1 10.217 * [backup-simplify]: Simplify 0 into 0 10.217 * [backup-simplify]: Simplify 1 into 1 10.218 * [backup-simplify]: Simplify (/ 1 1) into 1 10.218 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.218 * [taylor]: Taking taylor expansion of phi2 in phi1 10.218 * [backup-simplify]: Simplify phi2 into phi2 10.218 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.218 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1 10.218 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.218 * [taylor]: Taking taylor expansion of phi1 in phi1 10.218 * [backup-simplify]: Simplify 0 into 0 10.218 * [backup-simplify]: Simplify 1 into 1 10.218 * [backup-simplify]: Simplify (/ 1 1) into 1 10.218 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.218 * [taylor]: Taking taylor expansion of phi2 in phi1 10.218 * [backup-simplify]: Simplify phi2 into phi2 10.218 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.219 * [backup-simplify]: Simplify (+ 1 0) into 1 10.219 * [backup-simplify]: Simplify (+ 1 0) into 1 10.219 * [backup-simplify]: Simplify (* 1 1) into 1 10.219 * [backup-simplify]: Simplify (+ 0 1) into 1 10.220 * [backup-simplify]: Simplify (sqrt 1) into 1 10.220 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.220 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 10.220 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2)) 10.221 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.221 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 10.221 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2)) 10.221 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi2))) (* (- (/ 1 phi2)) 1)) into (- (* 2 (/ 1 phi2))) 10.221 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 10.222 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 10.222 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in phi2 10.222 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 10.222 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi2 10.222 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 10.222 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.222 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 10.222 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 10.222 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.222 * [backup-simplify]: Simplify lambda1 into lambda1 10.222 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.222 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 10.222 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.222 * [backup-simplify]: Simplify lambda2 into lambda2 10.222 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.222 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.222 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.222 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.222 * [backup-simplify]: Simplify 0.5 into 0.5 10.222 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.222 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.222 * [taylor]: Taking taylor expansion of phi1 in phi2 10.222 * [backup-simplify]: Simplify phi1 into phi1 10.222 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.222 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.222 * [taylor]: Taking taylor expansion of phi2 in phi2 10.222 * [backup-simplify]: Simplify 0 into 0 10.222 * [backup-simplify]: Simplify 1 into 1 10.223 * [backup-simplify]: Simplify (/ 1 1) into 1 10.223 * [backup-simplify]: Simplify (+ 0 1) into 1 10.223 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.223 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.223 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.223 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 10.223 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 10.223 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.223 * [backup-simplify]: Simplify lambda1 into lambda1 10.223 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.223 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 10.223 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.223 * [backup-simplify]: Simplify lambda2 into lambda2 10.223 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.224 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.224 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.224 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.224 * [backup-simplify]: Simplify 0.5 into 0.5 10.224 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.224 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.224 * [taylor]: Taking taylor expansion of phi1 in phi2 10.224 * [backup-simplify]: Simplify phi1 into phi1 10.224 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.224 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.224 * [taylor]: Taking taylor expansion of phi2 in phi2 10.224 * [backup-simplify]: Simplify 0 into 0 10.224 * [backup-simplify]: Simplify 1 into 1 10.224 * [backup-simplify]: Simplify (/ 1 1) into 1 10.224 * [backup-simplify]: Simplify (+ 0 1) into 1 10.225 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.225 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.225 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi2 10.225 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2 10.225 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.225 * [taylor]: Taking taylor expansion of phi1 in phi2 10.225 * [backup-simplify]: Simplify phi1 into phi1 10.225 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.225 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.225 * [taylor]: Taking taylor expansion of phi2 in phi2 10.225 * [backup-simplify]: Simplify 0 into 0 10.225 * [backup-simplify]: Simplify 1 into 1 10.225 * [backup-simplify]: Simplify (/ 1 1) into 1 10.225 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2 10.225 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.225 * [taylor]: Taking taylor expansion of phi1 in phi2 10.225 * [backup-simplify]: Simplify phi1 into phi1 10.225 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.225 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.225 * [taylor]: Taking taylor expansion of phi2 in phi2 10.225 * [backup-simplify]: Simplify 0 into 0 10.225 * [backup-simplify]: Simplify 1 into 1 10.226 * [backup-simplify]: Simplify (/ 1 1) into 1 10.226 * [backup-simplify]: Simplify (- 1) into -1 10.226 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.226 * [backup-simplify]: Simplify (- 1) into -1 10.227 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.227 * [backup-simplify]: Simplify (* -1 -1) into 1 10.227 * [backup-simplify]: Simplify (+ 0 1) into 1 10.227 * [backup-simplify]: Simplify (sqrt 1) into 1 10.228 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.228 * [backup-simplify]: Simplify (- 0) into 0 10.228 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1) 10.229 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.229 * [backup-simplify]: Simplify (- 0) into 0 10.229 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1) 10.229 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi1)) (* (/ 1 phi1) -1)) into (- (* 2 (/ 1 phi1))) 10.229 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 10.229 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 10.229 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda2 10.230 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 10.230 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.230 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 10.230 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 10.230 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 10.230 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 10.230 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.230 * [backup-simplify]: Simplify lambda1 into lambda1 10.230 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.230 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 10.230 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.230 * [backup-simplify]: Simplify 0 into 0 10.230 * [backup-simplify]: Simplify 1 into 1 10.230 * [backup-simplify]: Simplify (/ 1 1) into 1 10.230 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.230 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.230 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.230 * [backup-simplify]: Simplify 0.5 into 0.5 10.230 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.230 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.230 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.230 * [backup-simplify]: Simplify phi1 into phi1 10.230 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.230 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.230 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.230 * [backup-simplify]: Simplify phi2 into phi2 10.230 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.230 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.231 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.231 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.231 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.231 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 10.231 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 10.231 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 10.231 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.231 * [backup-simplify]: Simplify lambda1 into lambda1 10.231 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.231 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 10.231 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.231 * [backup-simplify]: Simplify 0 into 0 10.231 * [backup-simplify]: Simplify 1 into 1 10.231 * [backup-simplify]: Simplify (/ 1 1) into 1 10.231 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.231 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.231 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.231 * [backup-simplify]: Simplify 0.5 into 0.5 10.231 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.231 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.231 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.231 * [backup-simplify]: Simplify phi1 into phi1 10.231 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.231 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.231 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.231 * [backup-simplify]: Simplify phi2 into phi2 10.232 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.232 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.232 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.232 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.232 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.232 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda2 10.232 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2 10.232 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.232 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.232 * [backup-simplify]: Simplify phi1 into phi1 10.232 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.232 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.232 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.232 * [backup-simplify]: Simplify phi2 into phi2 10.232 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.232 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2 10.232 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.232 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.232 * [backup-simplify]: Simplify phi1 into phi1 10.232 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.232 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.232 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.232 * [backup-simplify]: Simplify phi2 into phi2 10.232 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.233 * [backup-simplify]: Simplify (- 1) into -1 10.233 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.233 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.233 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.233 * [backup-simplify]: Simplify (- 0) into 0 10.233 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.234 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.234 * [backup-simplify]: Simplify (- 1) into -1 10.234 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.234 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.234 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.235 * [backup-simplify]: Simplify (- 0) into 0 10.235 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.235 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.235 * [backup-simplify]: Simplify (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.235 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.235 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.236 * [backup-simplify]: Simplify (+ 0) into 0 10.236 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.236 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.236 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.236 * [backup-simplify]: Simplify (+ 0 0) into 0 10.237 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.237 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.238 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.238 * [backup-simplify]: Simplify (- 0) into 0 10.238 * [backup-simplify]: Simplify (+ 0 0) into 0 10.239 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.239 * [backup-simplify]: Simplify (- 0) into 0 10.239 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 10.239 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda1) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 10.243 * [backup-simplify]: Simplify (+ 0) into 0 10.244 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.244 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.244 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.244 * [backup-simplify]: Simplify (+ 0 0) into 0 10.245 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.245 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.246 * [backup-simplify]: Simplify (- 0) into 0 10.246 * [backup-simplify]: Simplify (+ 0 0) into 0 10.246 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.247 * [backup-simplify]: Simplify (- 0) into 0 10.247 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 10.247 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda1) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) 10.248 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 10.248 * [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))) 10.249 * [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)) 10.249 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 10.249 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 10.249 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.249 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 10.249 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 10.250 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 10.250 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 10.250 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.250 * [backup-simplify]: Simplify 0 into 0 10.250 * [backup-simplify]: Simplify 1 into 1 10.250 * [backup-simplify]: Simplify (/ 1 1) into 1 10.250 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 10.250 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.250 * [backup-simplify]: Simplify lambda2 into lambda2 10.250 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.250 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.250 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.250 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.250 * [backup-simplify]: Simplify 0.5 into 0.5 10.250 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.250 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.250 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.251 * [backup-simplify]: Simplify phi1 into phi1 10.251 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.251 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.251 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.251 * [backup-simplify]: Simplify phi2 into phi2 10.251 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.251 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.251 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.251 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.251 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.251 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 10.251 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 10.251 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 10.252 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.252 * [backup-simplify]: Simplify 0 into 0 10.252 * [backup-simplify]: Simplify 1 into 1 10.252 * [backup-simplify]: Simplify (/ 1 1) into 1 10.252 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 10.252 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.252 * [backup-simplify]: Simplify lambda2 into lambda2 10.252 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.252 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.252 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.252 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.252 * [backup-simplify]: Simplify 0.5 into 0.5 10.252 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.252 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.252 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.252 * [backup-simplify]: Simplify phi1 into phi1 10.252 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.252 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.253 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.253 * [backup-simplify]: Simplify phi2 into phi2 10.253 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.253 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.253 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.253 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.253 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.253 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 10.253 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 10.253 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.253 * [taylor]: Taking taylor expansion of phi1 in lambda1 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 lambda1 10.253 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.253 * [backup-simplify]: Simplify phi2 into phi2 10.254 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.254 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 10.254 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.254 * [taylor]: Taking taylor expansion of phi1 in lambda1 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 lambda1 10.254 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.254 * [backup-simplify]: Simplify phi2 into phi2 10.254 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.255 * [backup-simplify]: Simplify (+ 1 0) into 1 10.255 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.255 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.255 * [backup-simplify]: Simplify (- 0) into 0 10.256 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.256 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.256 * [backup-simplify]: Simplify (+ 1 0) into 1 10.257 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.257 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.257 * [backup-simplify]: Simplify (- 0) into 0 10.257 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.258 * [backup-simplify]: Simplify (* 1 (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)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.258 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.259 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.259 * [backup-simplify]: Simplify (+ 0) into 0 10.260 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.260 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.260 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.260 * [backup-simplify]: Simplify (+ 0 0) into 0 10.261 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.262 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.263 * [backup-simplify]: Simplify (- 0) into 0 10.263 * [backup-simplify]: Simplify (+ 0 0) into 0 10.264 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.264 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 10.264 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 10.265 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 10.265 * [backup-simplify]: Simplify (+ 0) into 0 10.266 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.266 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.266 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.267 * [backup-simplify]: Simplify (+ 0 0) into 0 10.267 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.268 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.269 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.269 * [backup-simplify]: Simplify (- 0) into 0 10.270 * [backup-simplify]: Simplify (+ 0 0) into 0 10.270 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.270 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 10.271 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 10.271 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 10.272 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 10.273 * [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))) 10.274 * [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)) 10.274 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 10.274 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 10.274 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.274 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 10.274 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 10.274 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 10.274 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 10.274 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.274 * [backup-simplify]: Simplify 0 into 0 10.274 * [backup-simplify]: Simplify 1 into 1 10.275 * [backup-simplify]: Simplify (/ 1 1) into 1 10.275 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 10.275 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.275 * [backup-simplify]: Simplify lambda2 into lambda2 10.275 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.275 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.275 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.275 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.275 * [backup-simplify]: Simplify 0.5 into 0.5 10.275 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.275 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.275 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.275 * [backup-simplify]: Simplify phi1 into phi1 10.275 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.275 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.275 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.275 * [backup-simplify]: Simplify phi2 into phi2 10.275 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.276 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.276 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.276 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.276 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.276 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 10.276 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 10.276 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 10.276 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.276 * [backup-simplify]: Simplify 0 into 0 10.276 * [backup-simplify]: Simplify 1 into 1 10.277 * [backup-simplify]: Simplify (/ 1 1) into 1 10.277 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 10.277 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.277 * [backup-simplify]: Simplify lambda2 into lambda2 10.277 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.277 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.277 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.277 * [taylor]: Taking taylor expansion of 0.5 in lambda1 10.277 * [backup-simplify]: Simplify 0.5 into 0.5 10.277 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.277 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.277 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.277 * [backup-simplify]: Simplify phi1 into phi1 10.277 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.277 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.277 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.277 * [backup-simplify]: Simplify phi2 into phi2 10.277 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.278 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.278 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.278 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.278 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.278 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 10.278 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 10.278 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.278 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.278 * [backup-simplify]: Simplify phi1 into phi1 10.278 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.278 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.278 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.278 * [backup-simplify]: Simplify phi2 into phi2 10.278 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.279 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 10.279 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.279 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.279 * [backup-simplify]: Simplify phi1 into phi1 10.279 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.279 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.279 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.279 * [backup-simplify]: Simplify phi2 into phi2 10.279 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.279 * [backup-simplify]: Simplify (+ 1 0) into 1 10.280 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.280 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.280 * [backup-simplify]: Simplify (- 0) into 0 10.280 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.281 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.281 * [backup-simplify]: Simplify (+ 1 0) into 1 10.281 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.281 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.282 * [backup-simplify]: Simplify (- 0) into 0 10.282 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.282 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.283 * [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) 10.283 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.283 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.284 * [backup-simplify]: Simplify (+ 0) into 0 10.284 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.284 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.285 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.285 * [backup-simplify]: Simplify (+ 0 0) into 0 10.286 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.286 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.287 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.287 * [backup-simplify]: Simplify (- 0) into 0 10.288 * [backup-simplify]: Simplify (+ 0 0) into 0 10.289 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.289 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 10.289 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 10.290 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 10.290 * [backup-simplify]: Simplify (+ 0) into 0 10.291 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.291 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.291 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.292 * [backup-simplify]: Simplify (+ 0 0) into 0 10.292 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.293 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.293 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.293 * [backup-simplify]: Simplify (- 0) into 0 10.294 * [backup-simplify]: Simplify (+ 0 0) into 0 10.294 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.294 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 10.294 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 10.295 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 10.296 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 10.296 * [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))) 10.297 * [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)) 10.297 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.297 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.297 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.297 * [backup-simplify]: Simplify 0.5 into 0.5 10.297 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.297 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.297 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.297 * [backup-simplify]: Simplify phi1 into phi1 10.297 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.297 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.297 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.297 * [backup-simplify]: Simplify phi2 into phi2 10.297 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.297 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.297 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.297 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.297 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.297 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 10.297 * [taylor]: Taking taylor expansion of -1 in lambda2 10.297 * [backup-simplify]: Simplify -1 into -1 10.297 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 10.297 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.297 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.297 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.297 * [backup-simplify]: Simplify 0.5 into 0.5 10.297 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.298 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.298 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 lambda2 10.298 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.298 * [backup-simplify]: Simplify phi2 into phi2 10.298 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.298 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.298 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.298 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.298 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.298 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.298 * [backup-simplify]: Simplify 0 into 0 10.298 * [backup-simplify]: Simplify 1 into 1 10.298 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.298 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.299 * [backup-simplify]: Simplify (- 0) into 0 10.299 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.299 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.299 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.299 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.299 * [taylor]: Taking taylor expansion of -1 in phi2 10.299 * [backup-simplify]: Simplify -1 into -1 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 10.299 * [backup-simplify]: Simplify phi1 into phi1 10.299 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.299 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.299 * [taylor]: Taking taylor expansion of phi2 in phi2 10.299 * [backup-simplify]: Simplify 0 into 0 10.299 * [backup-simplify]: Simplify 1 into 1 10.299 * [backup-simplify]: Simplify (/ 1 1) into 1 10.300 * [backup-simplify]: Simplify (+ 0 1) into 1 10.300 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.300 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.300 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.300 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.301 * [backup-simplify]: Simplify (- 0) into 0 10.301 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.301 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.301 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.301 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.301 * [backup-simplify]: Simplify 0.5 into 0.5 10.301 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.301 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.301 * [taylor]: Taking taylor expansion of phi1 in phi2 10.301 * [backup-simplify]: Simplify phi1 into phi1 10.301 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.301 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.301 * [taylor]: Taking taylor expansion of phi2 in phi2 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 10.302 * [backup-simplify]: Simplify (+ 0 1) 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)))) 10.303 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.303 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.303 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.303 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.304 * [backup-simplify]: Simplify (+ 0 0) into 0 10.304 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.305 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.305 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.306 * [backup-simplify]: Simplify (- 0) into 0 10.306 * [backup-simplify]: Simplify (+ 0 0) into 0 10.306 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.306 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 10.307 * [backup-simplify]: Simplify (- 0) into 0 10.307 * [backup-simplify]: Simplify (+ 0 0) into 0 10.307 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.308 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.308 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.308 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.309 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.309 * [backup-simplify]: Simplify (+ 0 0) into 0 10.309 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.310 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.310 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.311 * [backup-simplify]: Simplify (- 0) into 0 10.311 * [backup-simplify]: Simplify (+ 0 0) into 0 10.311 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.311 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 10.312 * [backup-simplify]: Simplify (- 0) into 0 10.312 * [backup-simplify]: Simplify (+ 0 0) into 0 10.312 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.313 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 10.313 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 10.313 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 10.313 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 10.313 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 10.313 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2) 10.314 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) 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)))) 10.315 * [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)))))) 10.315 * [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 10.315 * [taylor]: Taking taylor expansion of 1/2 in lambda2 10.315 * [backup-simplify]: Simplify 1/2 into 1/2 10.315 * [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 10.315 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 10.315 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 10.315 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 10.315 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 10.315 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.315 * [backup-simplify]: Simplify phi2 into phi2 10.315 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.316 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 10.316 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 10.316 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 10.316 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.316 * [backup-simplify]: Simplify phi1 into phi1 10.316 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.316 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.316 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 10.316 * [taylor]: Taking taylor expansion of 2 in lambda2 10.316 * [backup-simplify]: Simplify 2 into 2 10.316 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 10.316 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 10.316 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.316 * [backup-simplify]: Simplify phi2 into phi2 10.316 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.316 * [backup-simplify]: Simplify phi1 into phi1 10.316 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 10.316 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 10.316 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.316 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.316 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.316 * [backup-simplify]: Simplify 0.5 into 0.5 10.316 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.316 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.316 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.316 * [backup-simplify]: Simplify phi1 into phi1 10.316 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.316 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.316 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.316 * [backup-simplify]: Simplify phi2 into phi2 10.316 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.316 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.316 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.317 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.317 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.317 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 10.317 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 10.317 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 10.317 * [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)))) 10.317 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.317 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.318 * [backup-simplify]: Simplify (- 0) into 0 10.318 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.318 * [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))))) 10.319 * [backup-simplify]: Simplify (+ 0) into 0 10.319 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.319 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.319 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.320 * [backup-simplify]: Simplify (+ 0 0) into 0 10.320 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.321 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.322 * [backup-simplify]: Simplify (- 0) into 0 10.322 * [backup-simplify]: Simplify (+ 0 0) into 0 10.323 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 10.324 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.324 * [taylor]: Taking taylor expansion of 0 in phi2 10.324 * [backup-simplify]: Simplify 0 into 0 10.325 * [backup-simplify]: Simplify (+ 0) into 0 10.325 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.325 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.326 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.326 * [backup-simplify]: Simplify (+ 0 0) into 0 10.327 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.328 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.328 * [backup-simplify]: Simplify (- 0) into 0 10.329 * [backup-simplify]: Simplify (+ 0 0) into 0 10.329 * [taylor]: Taking taylor expansion of 0 in phi2 10.329 * [backup-simplify]: Simplify 0 into 0 10.329 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.329 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 10.329 * [taylor]: Taking taylor expansion of -1 in phi1 10.329 * [backup-simplify]: Simplify -1 into -1 10.329 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.329 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.329 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.329 * [backup-simplify]: Simplify 0.5 into 0.5 10.329 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.329 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.329 * [taylor]: Taking taylor expansion of phi1 in phi1 10.329 * [backup-simplify]: Simplify 0 into 0 10.329 * [backup-simplify]: Simplify 1 into 1 10.330 * [backup-simplify]: Simplify (/ 1 1) into 1 10.330 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.330 * [taylor]: Taking taylor expansion of phi2 in phi1 10.330 * [backup-simplify]: Simplify phi2 into phi2 10.330 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.330 * [backup-simplify]: Simplify (+ 1 0) into 1 10.331 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.331 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.331 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.331 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.331 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.331 * [backup-simplify]: Simplify 0.5 into 0.5 10.331 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.331 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.331 * [taylor]: Taking taylor expansion of phi1 in phi1 10.331 * [backup-simplify]: Simplify 0 into 0 10.331 * [backup-simplify]: Simplify 1 into 1 10.332 * [backup-simplify]: Simplify (/ 1 1) into 1 10.332 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.332 * [taylor]: Taking taylor expansion of phi2 in phi1 10.332 * [backup-simplify]: Simplify phi2 into phi2 10.332 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.332 * [backup-simplify]: Simplify (+ 1 0) into 1 10.333 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.333 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.334 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 10.335 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 10.335 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.336 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.336 * [backup-simplify]: Simplify (+ 0 0) into 0 10.337 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.339 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 10.340 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 10.340 * [backup-simplify]: Simplify (- 0) into 0 10.340 * [backup-simplify]: Simplify (+ 0 0) into 0 10.341 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.341 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 10.342 * [backup-simplify]: Simplify (- 0) into 0 10.342 * [backup-simplify]: Simplify (+ 0 0) into 0 10.343 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 10.344 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 10.345 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 10.345 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.346 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.346 * [backup-simplify]: Simplify (+ 0 0) into 0 10.347 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.349 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 10.350 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 10.350 * [backup-simplify]: Simplify (- 0) into 0 10.350 * [backup-simplify]: Simplify (+ 0 0) into 0 10.351 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.352 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 10.352 * [backup-simplify]: Simplify (- 0) into 0 10.352 * [backup-simplify]: Simplify (+ 0 0) into 0 10.353 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 10.354 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 0) (+ (* 0 (- (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 10.355 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.355 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.355 * [backup-simplify]: Simplify (- 0) into 0 10.356 * [backup-simplify]: Simplify (+ 0 0) into 0 10.356 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.356 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.356 * [backup-simplify]: Simplify (- 0) into 0 10.357 * [backup-simplify]: Simplify (+ 0 0) into 0 10.357 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0 10.357 * [backup-simplify]: Simplify (+ 0 0) into 0 10.359 * [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)))))) 10.359 * [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 10.359 * [taylor]: Taking taylor expansion of 1/2 in lambda2 10.359 * [backup-simplify]: Simplify 1/2 into 1/2 10.359 * [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 10.359 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 10.359 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 10.359 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 10.359 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 10.359 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.359 * [backup-simplify]: Simplify 0 into 0 10.359 * [backup-simplify]: Simplify 1 into 1 10.359 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 10.359 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.359 * [backup-simplify]: Simplify phi1 into phi1 10.359 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.360 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 10.360 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.360 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 10.360 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.360 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 10.360 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 10.361 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 10.361 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.361 * [backup-simplify]: Simplify phi2 into phi2 10.361 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.361 * [backup-simplify]: Simplify 0 into 0 10.361 * [backup-simplify]: Simplify 1 into 1 10.361 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.361 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 10.361 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 10.361 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 10.362 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 10.362 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 10.362 * [taylor]: Taking taylor expansion of 2 in lambda2 10.362 * [backup-simplify]: Simplify 2 into 2 10.362 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 10.362 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 10.362 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.362 * [backup-simplify]: Simplify phi2 into phi2 10.362 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 10.362 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.362 * [backup-simplify]: Simplify 0 into 0 10.362 * [backup-simplify]: Simplify 1 into 1 10.362 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.362 * [backup-simplify]: Simplify phi1 into phi1 10.362 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.362 * [backup-simplify]: Simplify (* phi2 0) into 0 10.362 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.363 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 10.363 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 10.363 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.363 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.363 * [taylor]: Taking taylor expansion of 0.5 in lambda2 10.363 * [backup-simplify]: Simplify 0.5 into 0.5 10.363 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.363 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.363 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.363 * [backup-simplify]: Simplify phi1 into phi1 10.363 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.363 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.363 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.363 * [backup-simplify]: Simplify phi2 into phi2 10.363 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.364 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.364 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.364 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.364 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.364 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 10.365 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 10.365 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 10.365 * [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)))) 10.365 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.366 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.366 * [backup-simplify]: Simplify (- 0) into 0 10.366 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.367 * [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))))) 10.368 * [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)))))) 10.368 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 10.368 * [taylor]: Taking taylor expansion of 1/2 in phi2 10.368 * [backup-simplify]: Simplify 1/2 into 1/2 10.368 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.368 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 10.368 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2 10.368 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 10.368 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 10.368 * [taylor]: Taking taylor expansion of phi2 in phi2 10.368 * [backup-simplify]: Simplify 0 into 0 10.368 * [backup-simplify]: Simplify 1 into 1 10.368 * [backup-simplify]: Simplify (* 1 1) into 1 10.369 * [backup-simplify]: Simplify (/ 1 1) into 1 10.369 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 10.369 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 10.369 * [taylor]: Taking taylor expansion of phi1 in phi2 10.369 * [backup-simplify]: Simplify phi1 into phi1 10.369 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.369 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.369 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 10.369 * [taylor]: Taking taylor expansion of 2 in phi2 10.369 * [backup-simplify]: Simplify 2 into 2 10.369 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 10.369 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 10.369 * [taylor]: Taking taylor expansion of phi2 in phi2 10.369 * [backup-simplify]: Simplify 0 into 0 10.369 * [backup-simplify]: Simplify 1 into 1 10.369 * [taylor]: Taking taylor expansion of phi1 in phi2 10.369 * [backup-simplify]: Simplify phi1 into phi1 10.370 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.370 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.370 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.370 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.370 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.370 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.370 * [backup-simplify]: Simplify 0.5 into 0.5 10.370 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.370 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.370 * [taylor]: Taking taylor expansion of phi1 in phi2 10.370 * [backup-simplify]: Simplify phi1 into phi1 10.370 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.370 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.370 * [taylor]: Taking taylor expansion of phi2 in phi2 10.370 * [backup-simplify]: Simplify 0 into 0 10.370 * [backup-simplify]: Simplify 1 into 1 10.371 * [backup-simplify]: Simplify (/ 1 1) into 1 10.371 * [backup-simplify]: Simplify (+ 0 1) into 1 10.372 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.372 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.372 * [backup-simplify]: Simplify (+ 1 0) into 1 10.373 * [backup-simplify]: Simplify (+ 1 0) into 1 10.373 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.374 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.374 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.375 * [backup-simplify]: Simplify (+ 0 0) into 0 10.375 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 10.375 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1))) 10.375 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 10.376 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 10.376 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 10.376 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1 10.377 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 10.377 * [taylor]: Taking taylor expansion of (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 10.377 * [taylor]: Taking taylor expansion of phi1 in phi1 10.377 * [backup-simplify]: Simplify 0 into 0 10.377 * [backup-simplify]: Simplify 1 into 1 10.377 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.377 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.377 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.377 * [backup-simplify]: Simplify 0.5 into 0.5 10.377 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.377 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.377 * [taylor]: Taking taylor expansion of phi1 in phi1 10.377 * [backup-simplify]: Simplify 0 into 0 10.377 * [backup-simplify]: Simplify 1 into 1 10.377 * [backup-simplify]: Simplify (/ 1 1) into 1 10.377 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.377 * [taylor]: Taking taylor expansion of phi2 in phi1 10.377 * [backup-simplify]: Simplify phi2 into phi2 10.378 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.378 * [backup-simplify]: Simplify (+ 1 0) into 1 10.378 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.379 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.379 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.379 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.380 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.380 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.380 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.381 * [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)))))) 10.381 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 10.381 * [taylor]: Taking taylor expansion of 1/2 in phi2 10.381 * [backup-simplify]: Simplify 1/2 into 1/2 10.381 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.381 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 10.381 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2 10.381 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 10.381 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 10.381 * [taylor]: Taking taylor expansion of phi2 in phi2 10.381 * [backup-simplify]: Simplify 0 into 0 10.381 * [backup-simplify]: Simplify 1 into 1 10.382 * [backup-simplify]: Simplify (* 1 1) into 1 10.382 * [backup-simplify]: Simplify (/ 1 1) into 1 10.382 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 10.382 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 10.382 * [taylor]: Taking taylor expansion of phi1 in phi2 10.382 * [backup-simplify]: Simplify phi1 into phi1 10.382 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.382 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.383 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 10.383 * [taylor]: Taking taylor expansion of 2 in phi2 10.383 * [backup-simplify]: Simplify 2 into 2 10.383 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 10.383 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 10.383 * [taylor]: Taking taylor expansion of phi2 in phi2 10.383 * [backup-simplify]: Simplify 0 into 0 10.383 * [backup-simplify]: Simplify 1 into 1 10.383 * [taylor]: Taking taylor expansion of phi1 in phi2 10.383 * [backup-simplify]: Simplify phi1 into phi1 10.383 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.383 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.383 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.383 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.383 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.383 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.383 * [backup-simplify]: Simplify 0.5 into 0.5 10.384 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.384 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.384 * [taylor]: Taking taylor expansion of phi1 in phi2 10.384 * [backup-simplify]: Simplify phi1 into phi1 10.384 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.384 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.384 * [taylor]: Taking taylor expansion of phi2 in phi2 10.384 * [backup-simplify]: Simplify 0 into 0 10.384 * [backup-simplify]: Simplify 1 into 1 10.384 * [backup-simplify]: Simplify (/ 1 1) into 1 10.385 * [backup-simplify]: Simplify (+ 0 1) into 1 10.385 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.385 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.386 * [backup-simplify]: Simplify (+ 1 0) into 1 10.386 * [backup-simplify]: Simplify (+ 1 0) into 1 10.386 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.391 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.393 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.393 * [backup-simplify]: Simplify (+ 0 0) into 0 10.393 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 10.393 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1))) 10.393 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 10.394 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 10.395 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 10.395 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1 10.395 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 10.395 * [taylor]: Taking taylor expansion of (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 10.395 * [taylor]: Taking taylor expansion of phi1 in phi1 10.395 * [backup-simplify]: Simplify 0 into 0 10.395 * [backup-simplify]: Simplify 1 into 1 10.395 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.395 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.395 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.395 * [backup-simplify]: Simplify 0.5 into 0.5 10.395 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.395 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.395 * [taylor]: Taking taylor expansion of phi1 in phi1 10.395 * [backup-simplify]: Simplify 0 into 0 10.395 * [backup-simplify]: Simplify 1 into 1 10.396 * [backup-simplify]: Simplify (/ 1 1) into 1 10.396 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.396 * [taylor]: Taking taylor expansion of phi2 in phi1 10.396 * [backup-simplify]: Simplify phi2 into phi2 10.396 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.396 * [backup-simplify]: Simplify (+ 1 0) into 1 10.397 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.397 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.397 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.397 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.397 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.397 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.398 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.398 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.399 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.399 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.400 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.400 * [backup-simplify]: Simplify (+ 0 0) into 0 10.400 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.401 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.401 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.402 * [backup-simplify]: Simplify (- 0) into 0 10.402 * [backup-simplify]: Simplify (+ 0 0) into 0 10.403 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.403 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.403 * [taylor]: Taking taylor expansion of 0 in phi2 10.403 * [backup-simplify]: Simplify 0 into 0 10.404 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.404 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.405 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.405 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.405 * [backup-simplify]: Simplify (+ 0 0) into 0 10.406 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.406 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.407 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.407 * [backup-simplify]: Simplify (- 0) into 0 10.407 * [backup-simplify]: Simplify (+ 0 0) into 0 10.407 * [taylor]: Taking taylor expansion of 0 in phi2 10.407 * [backup-simplify]: Simplify 0 into 0 10.407 * [taylor]: Taking taylor expansion of 0 in phi1 10.407 * [backup-simplify]: Simplify 0 into 0 10.407 * [taylor]: Taking taylor expansion of 0 in phi1 10.407 * [backup-simplify]: Simplify 0 into 0 10.408 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.408 * [taylor]: Taking taylor expansion of 0 in phi1 10.408 * [backup-simplify]: Simplify 0 into 0 10.408 * [taylor]: Taking taylor expansion of 0 in phi1 10.408 * [backup-simplify]: Simplify 0 into 0 10.408 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.408 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.409 * [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 phi1)) (* (/ 1 (/ 1 phi2)) (* 1 (/ 1 lambda1))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (* (/ 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))))))) 10.409 * [backup-simplify]: Simplify (hypot (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1)))))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))) into (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) 10.409 * [approximate]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in (lambda1 lambda2 phi2 phi1) around 0 10.410 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi1 10.410 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 10.410 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi1 10.410 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 10.410 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 10.410 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 10.410 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 10.410 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.410 * [backup-simplify]: Simplify lambda2 into lambda2 10.410 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.410 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 10.410 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.410 * [backup-simplify]: Simplify lambda1 into lambda1 10.410 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.410 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.410 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.410 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.410 * [backup-simplify]: Simplify -0.5 into -0.5 10.410 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.410 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.410 * [taylor]: Taking taylor expansion of phi1 in phi1 10.410 * [backup-simplify]: Simplify 0 into 0 10.410 * [backup-simplify]: Simplify 1 into 1 10.410 * [backup-simplify]: Simplify (/ 1 1) into 1 10.410 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.410 * [taylor]: Taking taylor expansion of phi2 in phi1 10.410 * [backup-simplify]: Simplify phi2 into phi2 10.410 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.411 * [backup-simplify]: Simplify (+ 1 0) into 1 10.411 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.411 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.411 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 10.411 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 10.411 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 10.411 * [taylor]: Taking taylor expansion of lambda2 in phi1 10.411 * [backup-simplify]: Simplify lambda2 into lambda2 10.411 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.411 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 10.411 * [taylor]: Taking taylor expansion of lambda1 in phi1 10.411 * [backup-simplify]: Simplify lambda1 into lambda1 10.411 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.411 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.411 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.411 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.411 * [backup-simplify]: Simplify -0.5 into -0.5 10.411 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.411 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.411 * [taylor]: Taking taylor expansion of phi1 in phi1 10.412 * [backup-simplify]: Simplify 0 into 0 10.412 * [backup-simplify]: Simplify 1 into 1 10.412 * [backup-simplify]: Simplify (/ 1 1) into 1 10.412 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.412 * [taylor]: Taking taylor expansion of phi2 in phi1 10.412 * [backup-simplify]: Simplify phi2 into phi2 10.412 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.412 * [backup-simplify]: Simplify (+ 1 0) into 1 10.412 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.413 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.413 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi1 10.413 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1 10.413 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.413 * [taylor]: Taking taylor expansion of phi2 in phi1 10.413 * [backup-simplify]: Simplify phi2 into phi2 10.413 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.413 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.413 * [taylor]: Taking taylor expansion of phi1 in phi1 10.413 * [backup-simplify]: Simplify 0 into 0 10.413 * [backup-simplify]: Simplify 1 into 1 10.413 * [backup-simplify]: Simplify (/ 1 1) into 1 10.413 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1 10.413 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.413 * [taylor]: Taking taylor expansion of phi2 in phi1 10.413 * [backup-simplify]: Simplify phi2 into phi2 10.413 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.413 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.413 * [taylor]: Taking taylor expansion of phi1 in phi1 10.413 * [backup-simplify]: Simplify 0 into 0 10.413 * [backup-simplify]: Simplify 1 into 1 10.413 * [backup-simplify]: Simplify (/ 1 1) into 1 10.414 * [backup-simplify]: Simplify (- 1) into -1 10.414 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.414 * [backup-simplify]: Simplify (- 1) into -1 10.414 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.415 * [backup-simplify]: Simplify (* -1 -1) into 1 10.415 * [backup-simplify]: Simplify (+ 0 1) into 1 10.415 * [backup-simplify]: Simplify (sqrt 1) into 1 10.416 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.416 * [backup-simplify]: Simplify (- 0) into 0 10.416 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2) 10.416 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.417 * [backup-simplify]: Simplify (- 0) into 0 10.417 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2) 10.417 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi2)) (* (/ 1 phi2) -1)) into (- (* 2 (/ 1 phi2))) 10.417 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 10.417 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 10.417 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in phi2 10.418 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 10.418 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi2 10.418 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 10.418 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.418 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 10.418 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 10.418 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.418 * [backup-simplify]: Simplify lambda2 into lambda2 10.418 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.418 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 10.418 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.418 * [backup-simplify]: Simplify lambda1 into lambda1 10.418 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.418 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.418 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.418 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.418 * [backup-simplify]: Simplify -0.5 into -0.5 10.418 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.418 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.418 * [taylor]: Taking taylor expansion of phi1 in phi2 10.418 * [backup-simplify]: Simplify phi1 into phi1 10.418 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.418 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.418 * [taylor]: Taking taylor expansion of phi2 in phi2 10.418 * [backup-simplify]: Simplify 0 into 0 10.418 * [backup-simplify]: Simplify 1 into 1 10.418 * [backup-simplify]: Simplify (/ 1 1) into 1 10.419 * [backup-simplify]: Simplify (+ 0 1) into 1 10.419 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.419 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.419 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.419 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 10.419 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 10.419 * [taylor]: Taking taylor expansion of lambda2 in phi2 10.419 * [backup-simplify]: Simplify lambda2 into lambda2 10.419 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.419 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 10.419 * [taylor]: Taking taylor expansion of lambda1 in phi2 10.419 * [backup-simplify]: Simplify lambda1 into lambda1 10.419 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.419 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.419 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.419 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.419 * [backup-simplify]: Simplify -0.5 into -0.5 10.419 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.419 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.419 * [taylor]: Taking taylor expansion of phi1 in phi2 10.419 * [backup-simplify]: Simplify phi1 into phi1 10.419 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.419 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.419 * [taylor]: Taking taylor expansion of phi2 in phi2 10.419 * [backup-simplify]: Simplify 0 into 0 10.419 * [backup-simplify]: Simplify 1 into 1 10.420 * [backup-simplify]: Simplify (/ 1 1) into 1 10.420 * [backup-simplify]: Simplify (+ 0 1) into 1 10.420 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.420 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.420 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi2 10.420 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2 10.420 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.420 * [taylor]: Taking taylor expansion of phi2 in phi2 10.420 * [backup-simplify]: Simplify 0 into 0 10.421 * [backup-simplify]: Simplify 1 into 1 10.421 * [backup-simplify]: Simplify (/ 1 1) into 1 10.421 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.421 * [taylor]: Taking taylor expansion of phi1 in phi2 10.421 * [backup-simplify]: Simplify phi1 into phi1 10.421 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.421 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2 10.421 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.421 * [taylor]: Taking taylor expansion of phi2 in phi2 10.421 * [backup-simplify]: Simplify 0 into 0 10.421 * [backup-simplify]: Simplify 1 into 1 10.421 * [backup-simplify]: Simplify (/ 1 1) into 1 10.421 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.421 * [taylor]: Taking taylor expansion of phi1 in phi2 10.421 * [backup-simplify]: Simplify phi1 into phi1 10.421 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.422 * [backup-simplify]: Simplify (+ 1 0) into 1 10.422 * [backup-simplify]: Simplify (+ 1 0) into 1 10.422 * [backup-simplify]: Simplify (* 1 1) into 1 10.422 * [backup-simplify]: Simplify (+ 0 1) into 1 10.423 * [backup-simplify]: Simplify (sqrt 1) into 1 10.423 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.423 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 10.423 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1)) 10.424 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.424 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 10.424 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1)) 10.424 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi1))) (* (- (/ 1 phi1)) 1)) into (- (* 2 (/ 1 phi1))) 10.424 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 10.425 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 10.425 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda2 10.425 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 10.425 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda2 10.425 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 10.425 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 10.425 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 10.425 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 10.425 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.425 * [backup-simplify]: Simplify 0 into 0 10.425 * [backup-simplify]: Simplify 1 into 1 10.426 * [backup-simplify]: Simplify (/ 1 1) into 1 10.426 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 10.426 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.426 * [backup-simplify]: Simplify lambda1 into lambda1 10.426 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.426 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.426 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.426 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.426 * [backup-simplify]: Simplify -0.5 into -0.5 10.426 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.426 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.426 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.426 * [backup-simplify]: Simplify phi1 into phi1 10.426 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.426 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.426 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.426 * [backup-simplify]: Simplify phi2 into phi2 10.426 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.426 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.427 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.427 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.427 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.427 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 10.427 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 10.427 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 10.427 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.427 * [backup-simplify]: Simplify 0 into 0 10.427 * [backup-simplify]: Simplify 1 into 1 10.428 * [backup-simplify]: Simplify (/ 1 1) into 1 10.428 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 10.428 * [taylor]: Taking taylor expansion of lambda1 in lambda2 10.428 * [backup-simplify]: Simplify lambda1 into lambda1 10.428 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 10.428 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.428 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.428 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.428 * [backup-simplify]: Simplify -0.5 into -0.5 10.428 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.428 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.428 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.428 * [backup-simplify]: Simplify phi1 into phi1 10.428 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.428 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.428 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.428 * [backup-simplify]: Simplify phi2 into phi2 10.428 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.428 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.428 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.429 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.429 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.429 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda2 10.429 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2 10.429 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.429 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.429 * [backup-simplify]: Simplify phi2 into phi2 10.429 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.429 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.429 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.429 * [backup-simplify]: Simplify phi1 into phi1 10.429 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.429 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2 10.429 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.429 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.429 * [backup-simplify]: Simplify phi2 into phi2 10.429 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.429 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.429 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.429 * [backup-simplify]: Simplify phi1 into phi1 10.430 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.430 * [backup-simplify]: Simplify (+ 1 0) into 1 10.430 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.430 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.431 * [backup-simplify]: Simplify (- 0) into 0 10.431 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.431 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.432 * [backup-simplify]: Simplify (+ 1 0) into 1 10.432 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.432 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.432 * [backup-simplify]: Simplify (- 0) into 0 10.433 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.433 * [backup-simplify]: Simplify (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.433 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.434 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.434 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.434 * [backup-simplify]: Simplify (+ 0) into 0 10.435 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.435 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.435 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.436 * [backup-simplify]: Simplify (+ 0 0) into 0 10.436 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.438 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.438 * [backup-simplify]: Simplify (- 0) into 0 10.439 * [backup-simplify]: Simplify (+ 0 0) into 0 10.439 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.439 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 10.440 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1)) 10.440 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 10.441 * [backup-simplify]: Simplify (+ 0) into 0 10.441 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.441 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.442 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.442 * [backup-simplify]: Simplify (+ 0 0) into 0 10.443 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.444 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.444 * [backup-simplify]: Simplify (- 0) into 0 10.445 * [backup-simplify]: Simplify (+ 0 0) into 0 10.445 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.446 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 10.446 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1)) 10.446 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 10.447 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) (* (- (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 10.448 * [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))) 10.449 * [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)) 10.449 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 10.449 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 10.449 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1 10.449 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 10.449 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 10.449 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 10.449 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 10.449 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.449 * [backup-simplify]: Simplify lambda2 into lambda2 10.449 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.449 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 10.449 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.449 * [backup-simplify]: Simplify 0 into 0 10.449 * [backup-simplify]: Simplify 1 into 1 10.450 * [backup-simplify]: Simplify (/ 1 1) into 1 10.450 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.450 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.450 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.450 * [backup-simplify]: Simplify -0.5 into -0.5 10.450 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.450 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.450 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.450 * [backup-simplify]: Simplify phi1 into phi1 10.450 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.450 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.450 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.450 * [backup-simplify]: Simplify phi2 into phi2 10.450 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.450 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.451 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.451 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.451 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.451 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 10.451 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 10.451 * [taylor]: Taking taylor expansion of (/ 1 lambda2) 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 (/ 1 lambda2) into (/ 1 lambda2) 10.451 * [taylor]: Taking taylor expansion of (/ 1 lambda1) 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 10.452 * [backup-simplify]: Simplify (/ 1 1) into 1 10.452 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.452 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.452 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.452 * [backup-simplify]: Simplify -0.5 into -0.5 10.452 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.452 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.452 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.452 * [backup-simplify]: Simplify phi1 into phi1 10.452 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.452 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.452 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.452 * [backup-simplify]: Simplify phi2 into phi2 10.452 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.452 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.452 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.453 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.453 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.453 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 10.453 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 10.453 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.453 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.453 * [backup-simplify]: Simplify phi2 into phi2 10.453 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.453 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.453 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.453 * [backup-simplify]: Simplify phi1 into phi1 10.453 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.453 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 10.453 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.453 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.453 * [backup-simplify]: Simplify phi2 into phi2 10.453 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.453 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.453 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.453 * [backup-simplify]: Simplify phi1 into phi1 10.454 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.454 * [backup-simplify]: Simplify (- 1) into -1 10.454 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.455 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.455 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.456 * [backup-simplify]: Simplify (- 0) into 0 10.456 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.456 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.456 * [backup-simplify]: Simplify (- 1) into -1 10.457 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.457 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.457 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.458 * [backup-simplify]: Simplify (- 0) into 0 10.458 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.458 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.458 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.459 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.459 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.460 * [backup-simplify]: Simplify (+ 0) into 0 10.460 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.460 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.460 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.461 * [backup-simplify]: Simplify (+ 0 0) into 0 10.461 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.462 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.463 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.463 * [backup-simplify]: Simplify (- 0) into 0 10.463 * [backup-simplify]: Simplify (+ 0 0) into 0 10.464 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.465 * [backup-simplify]: Simplify (- 0) into 0 10.465 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 10.465 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 10.466 * [backup-simplify]: Simplify (+ 0) into 0 10.466 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.466 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.467 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.467 * [backup-simplify]: Simplify (+ 0 0) into 0 10.467 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.469 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.469 * [backup-simplify]: Simplify (- 0) into 0 10.470 * [backup-simplify]: Simplify (+ 0 0) into 0 10.470 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.471 * [backup-simplify]: Simplify (- 0) into 0 10.471 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 10.472 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 10.473 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 10.473 * [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))) 10.474 * [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)) 10.474 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 10.474 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 10.474 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1 10.475 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1 10.475 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 10.475 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 10.475 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 10.475 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.475 * [backup-simplify]: Simplify lambda2 into lambda2 10.475 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.475 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 10.475 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.475 * [backup-simplify]: Simplify 0 into 0 10.475 * [backup-simplify]: Simplify 1 into 1 10.475 * [backup-simplify]: Simplify (/ 1 1) into 1 10.475 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.476 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.476 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.476 * [backup-simplify]: Simplify -0.5 into -0.5 10.476 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.476 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.476 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.476 * [backup-simplify]: Simplify phi1 into phi1 10.476 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.476 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.476 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.476 * [backup-simplify]: Simplify phi2 into phi2 10.476 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.476 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.477 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.477 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.477 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.477 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1 10.477 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 10.477 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 10.477 * [taylor]: Taking taylor expansion of lambda2 in lambda1 10.477 * [backup-simplify]: Simplify lambda2 into lambda2 10.477 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 10.477 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 10.477 * [taylor]: Taking taylor expansion of lambda1 in lambda1 10.477 * [backup-simplify]: Simplify 0 into 0 10.477 * [backup-simplify]: Simplify 1 into 1 10.478 * [backup-simplify]: Simplify (/ 1 1) into 1 10.478 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 10.478 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 10.478 * [taylor]: Taking taylor expansion of -0.5 in lambda1 10.478 * [backup-simplify]: Simplify -0.5 into -0.5 10.478 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 10.478 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.478 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.478 * [backup-simplify]: Simplify phi1 into phi1 10.478 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.478 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.478 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.478 * [backup-simplify]: Simplify phi2 into phi2 10.478 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.478 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.478 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.479 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.479 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.479 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 10.479 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 10.479 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.479 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.479 * [backup-simplify]: Simplify phi2 into phi2 10.479 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.479 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.479 * [taylor]: Taking taylor expansion of phi1 in lambda1 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) (/ 1 phi1)) in lambda1 10.479 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 10.479 * [taylor]: Taking taylor expansion of phi2 in lambda1 10.479 * [backup-simplify]: Simplify phi2 into phi2 10.479 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.479 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 10.479 * [taylor]: Taking taylor expansion of phi1 in lambda1 10.479 * [backup-simplify]: Simplify phi1 into phi1 10.479 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.480 * [backup-simplify]: Simplify (- 1) into -1 10.480 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.481 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.481 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.481 * [backup-simplify]: Simplify (- 0) into 0 10.481 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.481 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.482 * [backup-simplify]: Simplify (- 1) into -1 10.482 * [backup-simplify]: Simplify (+ 0 -1) into -1 10.482 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.483 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.483 * [backup-simplify]: Simplify (- 0) into 0 10.483 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.484 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.484 * [backup-simplify]: Simplify (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.484 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 10.485 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.485 * [backup-simplify]: Simplify (+ 0) into 0 10.486 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.486 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.486 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.487 * [backup-simplify]: Simplify (+ 0 0) into 0 10.487 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.488 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.489 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.489 * [backup-simplify]: Simplify (- 0) into 0 10.489 * [backup-simplify]: Simplify (+ 0 0) into 0 10.490 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.490 * [backup-simplify]: Simplify (- 0) into 0 10.490 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 10.491 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 10.492 * [backup-simplify]: Simplify (+ 0) into 0 10.492 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.492 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.493 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.493 * [backup-simplify]: Simplify (+ 0 0) into 0 10.494 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.495 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.495 * [backup-simplify]: Simplify (- 0) into 0 10.496 * [backup-simplify]: Simplify (+ 0 0) into 0 10.496 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.497 * [backup-simplify]: Simplify (- 0) into 0 10.497 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 10.498 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 10.499 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 10.499 * [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))) 10.500 * [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)) 10.500 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.500 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.500 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.500 * [backup-simplify]: Simplify -0.5 into -0.5 10.500 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.500 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.500 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.500 * [backup-simplify]: Simplify phi1 into phi1 10.501 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.501 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.501 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.501 * [backup-simplify]: Simplify phi2 into phi2 10.501 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.501 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.501 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.501 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.501 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.501 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 10.501 * [taylor]: Taking taylor expansion of -1 in lambda2 10.501 * [backup-simplify]: Simplify -1 into -1 10.501 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 10.502 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.502 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.502 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.502 * [backup-simplify]: Simplify -0.5 into -0.5 10.502 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.502 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.502 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.502 * [backup-simplify]: Simplify phi1 into phi1 10.502 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.502 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.502 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.502 * [backup-simplify]: Simplify phi2 into phi2 10.502 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.502 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.502 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.502 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.503 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.503 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.503 * [backup-simplify]: Simplify 0 into 0 10.503 * [backup-simplify]: Simplify 1 into 1 10.503 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.503 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.504 * [backup-simplify]: Simplify (- 0) into 0 10.504 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.504 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.504 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.504 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.504 * [taylor]: Taking taylor expansion of -1 in phi2 10.504 * [backup-simplify]: Simplify -1 into -1 10.504 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.504 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.505 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.505 * [backup-simplify]: Simplify -0.5 into -0.5 10.505 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.505 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.505 * [taylor]: Taking taylor expansion of phi1 in phi2 10.505 * [backup-simplify]: Simplify phi1 into phi1 10.505 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.505 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.505 * [taylor]: Taking taylor expansion of phi2 in phi2 10.505 * [backup-simplify]: Simplify 0 into 0 10.505 * [backup-simplify]: Simplify 1 into 1 10.505 * [backup-simplify]: Simplify (/ 1 1) into 1 10.506 * [backup-simplify]: Simplify (+ 0 1) into 1 10.506 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.507 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.507 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.507 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.507 * [backup-simplify]: Simplify (- 0) into 0 10.508 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.508 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.508 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.508 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.508 * [backup-simplify]: Simplify -0.5 into -0.5 10.508 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.508 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.508 * [taylor]: Taking taylor expansion of phi1 in phi2 10.508 * [backup-simplify]: Simplify phi1 into phi1 10.508 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.508 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.508 * [taylor]: Taking taylor expansion of phi2 in phi2 10.508 * [backup-simplify]: Simplify 0 into 0 10.508 * [backup-simplify]: Simplify 1 into 1 10.508 * [backup-simplify]: Simplify (/ 1 1) into 1 10.509 * [backup-simplify]: Simplify (+ 0 1) into 1 10.509 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.510 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.510 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.511 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.512 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.512 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.512 * [backup-simplify]: Simplify (+ 0 0) into 0 10.513 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.514 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.515 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.515 * [backup-simplify]: Simplify (- 0) into 0 10.515 * [backup-simplify]: Simplify (+ 0 0) into 0 10.515 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 10.516 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.517 * [backup-simplify]: Simplify (- 0) into 0 10.517 * [backup-simplify]: Simplify (+ 0 0) into 0 10.518 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.519 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.520 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.520 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.520 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.520 * [backup-simplify]: Simplify (+ 0 0) into 0 10.521 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.522 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.523 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.523 * [backup-simplify]: Simplify (- 0) into 0 10.524 * [backup-simplify]: Simplify (+ 0 0) into 0 10.524 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 10.525 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.525 * [backup-simplify]: Simplify (- 0) into 0 10.525 * [backup-simplify]: Simplify (+ 0 0) into 0 10.526 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.527 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 10.527 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 10.527 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 10.527 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 10.528 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 10.528 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2) 10.529 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) 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)))) 10.531 * [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)))))) 10.531 * [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 10.531 * [taylor]: Taking taylor expansion of 1/2 in lambda2 10.531 * [backup-simplify]: Simplify 1/2 into 1/2 10.531 * [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 10.531 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2 10.531 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 10.531 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 10.531 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 10.531 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.531 * [backup-simplify]: Simplify phi2 into phi2 10.531 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.532 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 10.532 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 10.532 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 10.532 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.532 * [backup-simplify]: Simplify phi1 into phi1 10.532 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.532 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.532 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2 10.532 * [taylor]: Taking taylor expansion of 2 in lambda2 10.532 * [backup-simplify]: Simplify 2 into 2 10.532 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2 10.532 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 10.532 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.532 * [backup-simplify]: Simplify phi2 into phi2 10.532 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.532 * [backup-simplify]: Simplify phi1 into phi1 10.532 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 10.532 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 10.532 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.532 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.532 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.532 * [backup-simplify]: Simplify -0.5 into -0.5 10.532 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.532 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.532 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.532 * [backup-simplify]: Simplify phi1 into phi1 10.532 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.532 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.532 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.532 * [backup-simplify]: Simplify phi2 into phi2 10.532 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.533 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.533 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.533 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.533 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.533 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 10.533 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 10.533 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 10.533 * [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)))) 10.533 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.534 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.534 * [backup-simplify]: Simplify (- 0) into 0 10.534 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.534 * [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))))) 10.538 * [backup-simplify]: Simplify (+ 0) into 0 10.538 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.539 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.539 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.539 * [backup-simplify]: Simplify (+ 0 0) into 0 10.539 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.540 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.540 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.540 * [backup-simplify]: Simplify (- 0) into 0 10.541 * [backup-simplify]: Simplify (+ 0 0) into 0 10.541 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 10.542 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.542 * [taylor]: Taking taylor expansion of 0 in phi2 10.542 * [backup-simplify]: Simplify 0 into 0 10.542 * [backup-simplify]: Simplify (+ 0) into 0 10.542 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.542 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.543 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.543 * [backup-simplify]: Simplify (+ 0 0) into 0 10.543 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.544 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.544 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.544 * [backup-simplify]: Simplify (- 0) into 0 10.544 * [backup-simplify]: Simplify (+ 0 0) into 0 10.545 * [taylor]: Taking taylor expansion of 0 in phi2 10.545 * [backup-simplify]: Simplify 0 into 0 10.545 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.545 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 10.545 * [taylor]: Taking taylor expansion of -1 in phi1 10.545 * [backup-simplify]: Simplify -1 into -1 10.545 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.545 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.545 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.545 * [backup-simplify]: Simplify -0.5 into -0.5 10.545 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.545 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.545 * [taylor]: Taking taylor expansion of phi1 in phi1 10.545 * [backup-simplify]: Simplify 0 into 0 10.545 * [backup-simplify]: Simplify 1 into 1 10.545 * [backup-simplify]: Simplify (/ 1 1) into 1 10.545 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.545 * [taylor]: Taking taylor expansion of phi2 in phi1 10.545 * [backup-simplify]: Simplify phi2 into phi2 10.545 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.546 * [backup-simplify]: Simplify (+ 1 0) into 1 10.546 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.546 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.546 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.546 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.546 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.546 * [backup-simplify]: Simplify -0.5 into -0.5 10.546 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.546 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.546 * [taylor]: Taking taylor expansion of phi1 in phi1 10.546 * [backup-simplify]: Simplify 0 into 0 10.546 * [backup-simplify]: Simplify 1 into 1 10.546 * [backup-simplify]: Simplify (/ 1 1) into 1 10.546 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.546 * [taylor]: Taking taylor expansion of phi2 in phi1 10.546 * [backup-simplify]: Simplify phi2 into phi2 10.546 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.547 * [backup-simplify]: Simplify (+ 1 0) into 1 10.547 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.547 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.548 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 10.548 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 10.549 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.549 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.549 * [backup-simplify]: Simplify (+ 0 0) into 0 10.550 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.551 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 10.551 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 10.551 * [backup-simplify]: Simplify (- 0) into 0 10.552 * [backup-simplify]: Simplify (+ 0 0) into 0 10.552 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 10.552 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.552 * [backup-simplify]: Simplify (- 0) into 0 10.553 * [backup-simplify]: Simplify (+ 0 0) into 0 10.553 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 10.554 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 10.555 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 10.555 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.555 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.555 * [backup-simplify]: Simplify (+ 0 0) into 0 10.556 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.557 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 10.558 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 10.558 * [backup-simplify]: Simplify (- 0) into 0 10.558 * [backup-simplify]: Simplify (+ 0 0) into 0 10.558 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 10.559 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.559 * [backup-simplify]: Simplify (- 0) into 0 10.559 * [backup-simplify]: Simplify (+ 0 0) into 0 10.560 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 10.561 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 0) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) 0) (+ (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 0 (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) into 0 10.561 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.561 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.562 * [backup-simplify]: Simplify (- 0) into 0 10.562 * [backup-simplify]: Simplify (+ 0 0) into 0 10.562 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.562 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.563 * [backup-simplify]: Simplify (- 0) into 0 10.563 * [backup-simplify]: Simplify (+ 0 0) into 0 10.563 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0 10.564 * [backup-simplify]: Simplify (+ 0 0) into 0 10.565 * [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)))))) 10.566 * [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 10.566 * [taylor]: Taking taylor expansion of 1/2 in lambda2 10.566 * [backup-simplify]: Simplify 1/2 into 1/2 10.566 * [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 10.566 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2 10.566 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2 10.566 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 10.566 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 10.566 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.566 * [backup-simplify]: Simplify 0 into 0 10.566 * [backup-simplify]: Simplify 1 into 1 10.566 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 10.566 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.566 * [backup-simplify]: Simplify phi1 into phi1 10.566 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.566 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 10.566 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.567 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 10.567 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.567 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2 10.567 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2 10.567 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 10.567 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.567 * [backup-simplify]: Simplify phi2 into phi2 10.567 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.567 * [backup-simplify]: Simplify 0 into 0 10.567 * [backup-simplify]: Simplify 1 into 1 10.567 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.567 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 10.568 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 10.568 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2) 10.568 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 10.568 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2 10.568 * [taylor]: Taking taylor expansion of 2 in lambda2 10.568 * [backup-simplify]: Simplify 2 into 2 10.568 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2 10.569 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2 10.569 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.569 * [backup-simplify]: Simplify phi2 into phi2 10.569 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 10.569 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.569 * [backup-simplify]: Simplify 0 into 0 10.569 * [backup-simplify]: Simplify 1 into 1 10.569 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.569 * [backup-simplify]: Simplify phi1 into phi1 10.569 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.569 * [backup-simplify]: Simplify (* phi2 0) into 0 10.569 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.570 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1) 10.570 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1)) 10.570 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.570 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.570 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.570 * [backup-simplify]: Simplify -0.5 into -0.5 10.570 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.570 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.570 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.570 * [backup-simplify]: Simplify phi1 into phi1 10.570 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.570 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.570 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.570 * [backup-simplify]: Simplify phi2 into phi2 10.570 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.570 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.571 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.571 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.571 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.571 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 10.571 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1)) 10.572 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1)))) 10.572 * [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)))) 10.572 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.572 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.573 * [backup-simplify]: Simplify (- 0) into 0 10.573 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.574 * [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))))) 10.574 * [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)))))) 10.575 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 10.575 * [taylor]: Taking taylor expansion of 1/2 in phi2 10.575 * [backup-simplify]: Simplify 1/2 into 1/2 10.575 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.575 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 10.575 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2 10.575 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 10.575 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 10.575 * [taylor]: Taking taylor expansion of phi2 in phi2 10.575 * [backup-simplify]: Simplify 0 into 0 10.575 * [backup-simplify]: Simplify 1 into 1 10.575 * [backup-simplify]: Simplify (* 1 1) into 1 10.576 * [backup-simplify]: Simplify (/ 1 1) into 1 10.576 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 10.576 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 10.576 * [taylor]: Taking taylor expansion of phi1 in phi2 10.576 * [backup-simplify]: Simplify phi1 into phi1 10.576 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.576 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.576 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 10.576 * [taylor]: Taking taylor expansion of 2 in phi2 10.576 * [backup-simplify]: Simplify 2 into 2 10.576 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 10.576 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 10.576 * [taylor]: Taking taylor expansion of phi2 in phi2 10.576 * [backup-simplify]: Simplify 0 into 0 10.576 * [backup-simplify]: Simplify 1 into 1 10.576 * [taylor]: Taking taylor expansion of phi1 in phi2 10.576 * [backup-simplify]: Simplify phi1 into phi1 10.576 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.577 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.577 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.577 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.577 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.577 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.577 * [backup-simplify]: Simplify -0.5 into -0.5 10.577 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.577 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.577 * [taylor]: Taking taylor expansion of phi1 in phi2 10.577 * [backup-simplify]: Simplify phi1 into phi1 10.577 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.577 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.577 * [taylor]: Taking taylor expansion of phi2 in phi2 10.577 * [backup-simplify]: Simplify 0 into 0 10.577 * [backup-simplify]: Simplify 1 into 1 10.578 * [backup-simplify]: Simplify (/ 1 1) into 1 10.578 * [backup-simplify]: Simplify (+ 0 1) into 1 10.579 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.579 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.579 * [backup-simplify]: Simplify (+ 1 0) into 1 10.580 * [backup-simplify]: Simplify (+ 1 0) into 1 10.580 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.581 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.581 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.582 * [backup-simplify]: Simplify (+ 0 0) into 0 10.582 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 10.582 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1))) 10.582 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 10.583 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) 10.583 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) 10.583 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) in phi1 10.583 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) in phi1 10.583 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) in phi1 10.583 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.583 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.583 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.583 * [backup-simplify]: Simplify -0.5 into -0.5 10.583 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.583 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.583 * [taylor]: Taking taylor expansion of phi1 in phi1 10.583 * [backup-simplify]: Simplify 0 into 0 10.583 * [backup-simplify]: Simplify 1 into 1 10.584 * [backup-simplify]: Simplify (/ 1 1) into 1 10.584 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.584 * [taylor]: Taking taylor expansion of phi2 in phi1 10.584 * [backup-simplify]: Simplify phi2 into phi2 10.584 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.585 * [backup-simplify]: Simplify (+ 1 0) into 1 10.585 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.585 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.585 * [taylor]: Taking taylor expansion of phi1 in phi1 10.585 * [backup-simplify]: Simplify 0 into 0 10.585 * [backup-simplify]: Simplify 1 into 1 10.586 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.586 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.586 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.587 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.587 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.588 * [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)))))) 10.588 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 10.588 * [taylor]: Taking taylor expansion of 1/2 in phi2 10.588 * [backup-simplify]: Simplify 1/2 into 1/2 10.588 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.588 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi2 10.588 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2 10.588 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 10.588 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 10.588 * [taylor]: Taking taylor expansion of phi2 in phi2 10.588 * [backup-simplify]: Simplify 0 into 0 10.588 * [backup-simplify]: Simplify 1 into 1 10.589 * [backup-simplify]: Simplify (* 1 1) into 1 10.589 * [backup-simplify]: Simplify (/ 1 1) into 1 10.589 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 10.589 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 10.589 * [taylor]: Taking taylor expansion of phi1 in phi2 10.589 * [backup-simplify]: Simplify phi1 into phi1 10.589 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.589 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.589 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2 10.589 * [taylor]: Taking taylor expansion of 2 in phi2 10.589 * [backup-simplify]: Simplify 2 into 2 10.589 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2 10.590 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 10.590 * [taylor]: Taking taylor expansion of phi2 in phi2 10.590 * [backup-simplify]: Simplify 0 into 0 10.590 * [backup-simplify]: Simplify 1 into 1 10.590 * [taylor]: Taking taylor expansion of phi1 in phi2 10.590 * [backup-simplify]: Simplify phi1 into phi1 10.590 * [backup-simplify]: Simplify (* 0 phi1) into 0 10.590 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 10.590 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.590 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.590 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.590 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.590 * [backup-simplify]: Simplify -0.5 into -0.5 10.590 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.590 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.590 * [taylor]: Taking taylor expansion of phi1 in phi2 10.590 * [backup-simplify]: Simplify phi1 into phi1 10.591 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.591 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.591 * [taylor]: Taking taylor expansion of phi2 in phi2 10.591 * [backup-simplify]: Simplify 0 into 0 10.591 * [backup-simplify]: Simplify 1 into 1 10.591 * [backup-simplify]: Simplify (/ 1 1) into 1 10.591 * [backup-simplify]: Simplify (+ 0 1) into 1 10.592 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.592 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.593 * [backup-simplify]: Simplify (+ 1 0) into 1 10.593 * [backup-simplify]: Simplify (+ 1 0) into 1 10.593 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.594 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.595 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.595 * [backup-simplify]: Simplify (+ 0 0) into 0 10.595 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 10.595 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1))) 10.595 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 10.596 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) 10.597 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) 10.597 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) in phi1 10.597 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) in phi1 10.597 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) in phi1 10.597 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.597 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.597 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.597 * [backup-simplify]: Simplify -0.5 into -0.5 10.597 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.597 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.597 * [taylor]: Taking taylor expansion of phi1 in phi1 10.597 * [backup-simplify]: Simplify 0 into 0 10.597 * [backup-simplify]: Simplify 1 into 1 10.597 * [backup-simplify]: Simplify (/ 1 1) into 1 10.597 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.598 * [taylor]: Taking taylor expansion of phi2 in phi1 10.598 * [backup-simplify]: Simplify phi2 into phi2 10.598 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.598 * [backup-simplify]: Simplify (+ 1 0) into 1 10.598 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.599 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.599 * [taylor]: Taking taylor expansion of phi1 in phi1 10.599 * [backup-simplify]: Simplify 0 into 0 10.599 * [backup-simplify]: Simplify 1 into 1 10.599 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.600 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.600 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.600 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.600 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.601 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.602 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.603 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.603 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.603 * [backup-simplify]: Simplify (+ 0 0) into 0 10.604 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.604 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.605 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.605 * [backup-simplify]: Simplify (- 0) into 0 10.605 * [backup-simplify]: Simplify (+ 0 0) into 0 10.607 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.607 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.607 * [taylor]: Taking taylor expansion of 0 in phi2 10.607 * [backup-simplify]: Simplify 0 into 0 10.608 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.608 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.608 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.609 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.609 * [backup-simplify]: Simplify (+ 0 0) into 0 10.609 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.610 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.610 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.610 * [backup-simplify]: Simplify (- 0) into 0 10.611 * [backup-simplify]: Simplify (+ 0 0) into 0 10.611 * [taylor]: Taking taylor expansion of 0 in phi2 10.611 * [backup-simplify]: Simplify 0 into 0 10.611 * [taylor]: Taking taylor expansion of 0 in phi1 10.611 * [backup-simplify]: Simplify 0 into 0 10.611 * [taylor]: Taking taylor expansion of 0 in phi1 10.611 * [backup-simplify]: Simplify 0 into 0 10.611 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.611 * [taylor]: Taking taylor expansion of 0 in phi1 10.611 * [backup-simplify]: Simplify 0 into 0 10.611 * [taylor]: Taking taylor expansion of 0 in phi1 10.611 * [backup-simplify]: Simplify 0 into 0 10.612 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.612 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.613 * [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 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (* 1 (/ 1 (- lambda1)))))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (* (/ 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)))))) 10.613 * * * [progress]: simplifying candidates 10.614 * [simplify]: Simplifying: (expm1 (cos (* 0.5 (+ phi2 phi1)))) (log1p (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)))) (expm1 (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (log1p (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (+ (log (- lambda1 lambda2)) (log (cos (* 0.5 (+ phi2 phi1))))) (log (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (exp (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (* (* (- lambda1 lambda2) (- lambda1 lambda2)) (- lambda1 lambda2)) (* (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (cos (* 0.5 (+ phi2 phi1))))) (* (cbrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (cbrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))))) (cbrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (sqrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (sqrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (sqrt (- lambda1 lambda2)) (sqrt (cos (* 0.5 (+ phi2 phi1))))) (* (sqrt (- lambda1 lambda2)) (sqrt (cos (* 0.5 (+ phi2 phi1))))) (* (- lambda1 lambda2) (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))) (* (- lambda1 lambda2) (sqrt (cos (* 0.5 (+ phi2 phi1))))) (* (- lambda1 lambda2) 1) (* (cbrt (- lambda1 lambda2)) (cos (* 0.5 (+ phi2 phi1)))) (* (sqrt (- lambda1 lambda2)) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- (sqrt lambda1) (sqrt lambda2)) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (* 0.5 (+ phi2 phi1)))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (* 0.5 (+ phi2 phi1)))) (expm1 (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (log1p (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) (+ (log (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (log R)) (log (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (exp (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (* (* (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (* (* R R) R)) (* (cbrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (cbrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R))) (cbrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (* (* (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (sqrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (sqrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (sqrt R)) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (sqrt R)) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) (* (cbrt R) (cbrt R))) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) (sqrt R)) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) 1) (* (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) R) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) R) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) (expm1 (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (log1p (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (+ (* (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- phi1 phi2) (- phi1 phi2))) (log (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (exp (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (* (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)))) (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (* (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- lambda1 lambda2) (- (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (- (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) 0 (- (+ (/ (* phi2 (* lambda2 (* R phi1))) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 (* phi1 R)) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (* (cos (* 0.5 (+ phi2 phi1))) R))))) (+ (/ (* phi2 (* R phi1)) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (+ (/ (* phi2 (* lambda2 (* phi1 R))) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (* lambda2 (* (cos (* 0.5 (+ phi2 phi1))) R)))) (- phi1 phi2) (- (+ (/ (* 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))))))) (+ (/ (* 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)))))) 10.616 * * [simplify]: Extracting # 0 : cost 0 10.616 * * [simplify]: Extracting # 1 : cost 0 10.616 * * [simplify]: Extracting # 2 : cost 0 10.616 * * [simplify]: Extracting # 3 : cost 0 10.617 * * [simplify]: Extracting # 4 : cost 0 10.617 * * [simplify]: Extracting # 5 : cost 0 10.617 * * [simplify]: Extracting # 6 : cost 0 10.617 * * [simplify]: Extracting # 7 : cost 0 10.617 * * [simplify]: Extracting # 8 : cost 0 10.618 * * [simplify]: Extracting # 9 : cost 0 10.618 * * [simplify]: iteration 0 : 150 enodes (cost 1315 ) 10.665 * * [simplify]: Extracting # 0 : cost 0 10.665 * * [simplify]: Extracting # 1 : cost 0 10.666 * * [simplify]: Extracting # 2 : cost 0 10.667 * * [simplify]: Extracting # 3 : cost 0 10.668 * * [simplify]: iteration 1 : 334 enodes (cost 1307 ) 10.808 * * [simplify]: Extracting # 0 : cost 0 10.810 * * [simplify]: Extracting # 1 : cost 0 10.812 * * [simplify]: Extracting # 2 : cost 0 10.814 * * [simplify]: Extracting # 3 : cost 0 10.816 * * [simplify]: Extracting # 4 : cost 0 10.818 * * [simplify]: iteration 2 : 960 enodes (cost 1113 ) 11.746 * * [simplify]: Extracting # 0 : cost 0 11.757 * * [simplify]: Extracting # 1 : cost 0 11.760 * * [simplify]: Extracting # 2 : cost 0 11.763 * * [simplify]: Extracting # 3 : cost 0 11.766 * * [simplify]: Extracting # 4 : cost 0 11.770 * * [simplify]: iteration 3 : 3138 enodes (cost 1096 ) 13.012 * * [simplify]: Extracting # 0 : cost 0 13.027 * * [simplify]: Extracting # 1 : cost 0 13.033 * * [simplify]: Extracting # 2 : cost 0 13.039 * * [simplify]: iteration done: 5000 enodes (cost 1095 ) 13.040 * [simplify]: Simplified to: (expm1 (cos (* 0.5 (+ phi2 phi1)))) (log1p (cos (* 0.5 (+ phi2 phi1)))) (* (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)))) (expm1 (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (log1p (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (log (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (log (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (exp (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (pow (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) 3) (* (cbrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (cbrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))))) (cbrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (pow (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) 3) (sqrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (sqrt (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1))))) (* (sqrt (- lambda1 lambda2)) (sqrt (cos (* 0.5 (+ phi2 phi1))))) (* (sqrt (- lambda1 lambda2)) (sqrt (cos (* 0.5 (+ phi2 phi1))))) (* (- lambda1 lambda2) (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))) (* (- lambda1 lambda2) (sqrt (cos (* 0.5 (+ phi2 phi1))))) (- lambda1 lambda2) (* (cbrt (- lambda1 lambda2)) (cos (* 0.5 (+ phi2 phi1)))) (* (sqrt (- lambda1 lambda2)) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- (sqrt lambda1) (sqrt lambda2)) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (* 0.5 (+ phi2 phi1)))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (* 0.5 (+ phi2 phi1)))) (expm1 (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (log1p (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) (log (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (log (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (exp (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (pow (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) 3) (* (cbrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (cbrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R))) (cbrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (pow (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) 3) (sqrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (sqrt (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R)) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (sqrt R)) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (sqrt R)) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) (* (cbrt R) (cbrt R))) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) (sqrt R)) (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) (* (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) R) (* (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) R) (* (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) R) (expm1 (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (log1p (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (fma (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- phi1 phi2) (- phi1 phi2))) (log (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (exp (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (* (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)))) (cbrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (pow (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2)) 3) (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (sqrt (hypot (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (- phi1 phi2))) (- 1 (* phi2 (fma 0.25 phi1 (* phi2 0.125)))) (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))) (- lambda1 lambda2) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) (* (- lambda1 lambda2) (cos (* 0.5 (+ phi2 phi1)))) 0 (- (fma R (* lambda2 (cos (* 0.5 (+ phi2 phi1)))) (/ (* phi2 (* (+ (/ lambda2 lambda1) 1) (/ (* phi1 R) lambda1))) (cos (* 0.5 (+ phi2 phi1)))))) (fma R (* lambda2 (cos (* 0.5 (+ phi2 phi1)))) (/ (* phi2 (* (+ (/ lambda2 lambda1) 1) (/ (* phi1 R) lambda1))) (cos (* 0.5 (+ phi2 phi1))))) (- phi1 phi2) (- (fma lambda2 (cos (* 0.5 (+ phi2 phi1))) (* (* (+ (/ lambda2 lambda1) 1) (/ phi1 lambda1)) (/ phi2 (cos (* 0.5 (+ phi2 phi1))))))) (fma lambda2 (cos (* 0.5 (+ phi2 phi1))) (* (* (+ (/ lambda2 lambda1) 1) (/ phi1 lambda1)) (/ phi2 (cos (* 0.5 (+ phi2 phi1)))))) 13.040 * * * [progress]: adding candidates to table 13.414 * * [progress]: iteration 3 / 4 13.414 * * * [progress]: picking best candidate 13.468 * * * * [pick]: Picked # 13.468 * * * [progress]: localizing error 13.528 * * * [progress]: generating rewritten candidates 13.528 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 1 2 2) 13.583 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 1) 13.925 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 1 2) 14.031 * * * * [progress]: [ 4 / 4 ] rewriting at (2) 14.052 * * * [progress]: generating series expansions 14.052 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 1 2 2) 14.052 * [backup-simplify]: Simplify (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.052 * [approximate]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in (phi2 phi1) around 0 14.052 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi1 14.053 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 14.053 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.053 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.053 * [backup-simplify]: Simplify 0.5 into 0.5 14.053 * [taylor]: Taking taylor expansion of phi2 in phi1 14.053 * [backup-simplify]: Simplify phi2 into phi2 14.053 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.053 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.053 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.053 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.053 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.053 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.053 * [backup-simplify]: Simplify 0.5 into 0.5 14.053 * [taylor]: Taking taylor expansion of phi1 in phi1 14.053 * [backup-simplify]: Simplify 0 into 0 14.053 * [backup-simplify]: Simplify 1 into 1 14.054 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.055 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.056 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 14.056 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.056 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.056 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.056 * [backup-simplify]: Simplify 0.5 into 0.5 14.056 * [taylor]: Taking taylor expansion of phi2 in phi2 14.056 * [backup-simplify]: Simplify 0 into 0 14.056 * [backup-simplify]: Simplify 1 into 1 14.056 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.058 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.058 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.058 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.058 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.058 * [backup-simplify]: Simplify 0.5 into 0.5 14.058 * [taylor]: Taking taylor expansion of phi1 in phi2 14.058 * [backup-simplify]: Simplify phi1 into phi1 14.058 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.058 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.058 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.058 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 14.058 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.058 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.058 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.058 * [backup-simplify]: Simplify 0.5 into 0.5 14.058 * [taylor]: Taking taylor expansion of phi2 in phi2 14.058 * [backup-simplify]: Simplify 0 into 0 14.058 * [backup-simplify]: Simplify 1 into 1 14.059 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.060 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.060 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.060 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.060 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.060 * [backup-simplify]: Simplify 0.5 into 0.5 14.060 * [taylor]: Taking taylor expansion of phi1 in phi2 14.060 * [backup-simplify]: Simplify phi1 into phi1 14.060 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.060 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.060 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.061 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.061 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.061 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.061 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi1))) into 0 14.061 * [taylor]: Taking taylor expansion of 0 in phi1 14.061 * [backup-simplify]: Simplify 0 into 0 14.061 * [backup-simplify]: Simplify 0 into 0 14.061 * [backup-simplify]: Simplify (+ 0) into 0 14.062 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.062 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.063 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.063 * [backup-simplify]: Simplify (+ 0 0) into 0 14.065 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.065 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi1)))) into (* 0.5 (sin (* 0.5 phi1))) 14.065 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 14.065 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.065 * [backup-simplify]: Simplify 0.5 into 0.5 14.065 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.065 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.065 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.065 * [backup-simplify]: Simplify 0.5 into 0.5 14.065 * [taylor]: Taking taylor expansion of phi1 in phi1 14.065 * [backup-simplify]: Simplify 0 into 0 14.065 * [backup-simplify]: Simplify 1 into 1 14.066 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.067 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.067 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.067 * [backup-simplify]: Simplify 0 into 0 14.067 * [backup-simplify]: Simplify 0 into 0 14.068 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.068 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.069 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.069 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.069 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.070 * [backup-simplify]: Simplify (+ 0 0) into 0 14.070 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 14.071 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.071 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (sin (* 0.5 phi1))))) into 0 14.071 * [taylor]: Taking taylor expansion of 0 in phi1 14.071 * [backup-simplify]: Simplify 0 into 0 14.071 * [backup-simplify]: Simplify 0 into 0 14.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.074 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 14.074 * [backup-simplify]: Simplify 0.25 into 0.25 14.074 * [backup-simplify]: Simplify 0 into 0 14.074 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 14.075 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 14.076 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 phi1)))) into 0 14.077 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 14.077 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 14.077 * [backup-simplify]: Simplify (+ 0 0) into 0 14.078 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 14.081 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into (- 0.020833333333333332) 14.082 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (+ (* 0 0) (* (- 0.020833333333333332) (sin (* 0.5 phi1)))))) into (- (* 0.020833333333333332 (sin (* 0.5 phi1)))) 14.082 * [taylor]: Taking taylor expansion of (- (* 0.020833333333333332 (sin (* 0.5 phi1)))) in phi1 14.082 * [taylor]: Taking taylor expansion of (* 0.020833333333333332 (sin (* 0.5 phi1))) in phi1 14.082 * [taylor]: Taking taylor expansion of 0.020833333333333332 in phi1 14.082 * [backup-simplify]: Simplify 0.020833333333333332 into 0.020833333333333332 14.082 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.082 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.082 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.082 * [backup-simplify]: Simplify 0.5 into 0.5 14.082 * [taylor]: Taking taylor expansion of phi1 in phi1 14.082 * [backup-simplify]: Simplify 0 into 0 14.082 * [backup-simplify]: Simplify 1 into 1 14.082 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.083 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.084 * [backup-simplify]: Simplify (* 0.020833333333333332 0) into 0 14.084 * [backup-simplify]: Simplify (- 0) into 0 14.084 * [backup-simplify]: Simplify 0 into 0 14.084 * [backup-simplify]: Simplify 0 into 0 14.084 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 14.085 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.085 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0.5) (* 0 0))) into 0 14.086 * [backup-simplify]: Simplify 0 into 0 14.086 * [backup-simplify]: Simplify 0 into 0 14.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 4) 24)) 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) (* -1 (/ (pow 0 2) 2)) 0) into 0 14.088 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 1))))) into 0 14.089 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 phi1))))) into 0 14.091 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0 14.092 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 0) (* 0 0))))) into 0 14.092 * [backup-simplify]: Simplify (+ 0 0) into 0 14.094 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (+ (* 0 1) (* 0 0))))) into 0 14.095 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0.5 2) 2) (/ (pow 0 1) 1)) 0 0 (* 1 (/ (pow 0 1) 1))) into 0 14.097 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (+ (* 0 0) (+ (* (- 0.020833333333333332) 0) (* 0 (sin (* 0.5 phi1))))))) into 0 14.097 * [taylor]: Taking taylor expansion of 0 in phi1 14.097 * [backup-simplify]: Simplify 0 into 0 14.097 * [backup-simplify]: Simplify 0 into 0 14.098 * [backup-simplify]: Simplify (* 0.25 (* phi1 phi2)) into (* 0.25 (* phi2 phi1)) 14.098 * [backup-simplify]: Simplify (* (sin (* (/ 1 phi2) 0.5)) (sin (* (/ 1 phi1) 0.5))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.098 * [approximate]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in (phi2 phi1) around 0 14.098 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 14.098 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 14.098 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.098 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.098 * [backup-simplify]: Simplify 0.5 into 0.5 14.098 * [taylor]: Taking taylor expansion of phi1 in phi1 14.098 * [backup-simplify]: Simplify 0 into 0 14.098 * [backup-simplify]: Simplify 1 into 1 14.099 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.099 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.099 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 14.099 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.099 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.099 * [backup-simplify]: Simplify 0.5 into 0.5 14.099 * [taylor]: Taking taylor expansion of phi2 in phi1 14.099 * [backup-simplify]: Simplify phi2 into phi2 14.099 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.099 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.099 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.100 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 14.100 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 14.100 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.100 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.100 * [backup-simplify]: Simplify 0.5 into 0.5 14.100 * [taylor]: Taking taylor expansion of phi1 in phi2 14.100 * [backup-simplify]: Simplify phi1 into phi1 14.100 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.100 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.100 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.100 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 14.100 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 14.100 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.100 * [backup-simplify]: Simplify 0.5 into 0.5 14.100 * [taylor]: Taking taylor expansion of phi2 in phi2 14.100 * [backup-simplify]: Simplify 0 into 0 14.100 * [backup-simplify]: Simplify 1 into 1 14.101 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.101 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.101 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 14.101 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 14.101 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.101 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.101 * [backup-simplify]: Simplify 0.5 into 0.5 14.101 * [taylor]: Taking taylor expansion of phi1 in phi2 14.101 * [backup-simplify]: Simplify phi1 into phi1 14.101 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.101 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.101 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.101 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 14.101 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 14.101 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.101 * [backup-simplify]: Simplify 0.5 into 0.5 14.101 * [taylor]: Taking taylor expansion of phi2 in phi2 14.101 * [backup-simplify]: Simplify 0 into 0 14.101 * [backup-simplify]: Simplify 1 into 1 14.102 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.102 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.102 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 14.102 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 14.102 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 14.103 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.103 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 14.103 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 14.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.103 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.103 * [backup-simplify]: Simplify 0.5 into 0.5 14.103 * [taylor]: Taking taylor expansion of phi1 in phi1 14.103 * [backup-simplify]: Simplify 0 into 0 14.103 * [backup-simplify]: Simplify 1 into 1 14.103 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.103 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 14.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.103 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.104 * [backup-simplify]: Simplify 0.5 into 0.5 14.104 * [taylor]: Taking taylor expansion of phi2 in phi1 14.104 * [backup-simplify]: Simplify phi2 into phi2 14.104 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.104 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.104 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.104 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 14.104 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 14.104 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 14.104 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.105 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.105 * [backup-simplify]: Simplify (+ 0) into 0 14.106 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.106 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.107 * [backup-simplify]: Simplify (+ 0 0) into 0 14.108 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 14.108 * [taylor]: Taking taylor expansion of 0 in phi1 14.108 * [backup-simplify]: Simplify 0 into 0 14.108 * [backup-simplify]: Simplify 0 into 0 14.108 * [backup-simplify]: Simplify (+ 0) into 0 14.109 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.109 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.110 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.110 * [backup-simplify]: Simplify (+ 0 0) into 0 14.111 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 14.111 * [backup-simplify]: Simplify 0 into 0 14.112 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.112 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.113 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.114 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.114 * [backup-simplify]: Simplify (+ 0 0) into 0 14.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 14.115 * [taylor]: Taking taylor expansion of 0 in phi1 14.115 * [backup-simplify]: Simplify 0 into 0 14.115 * [backup-simplify]: Simplify 0 into 0 14.115 * [backup-simplify]: Simplify 0 into 0 14.116 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.117 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 14.118 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.118 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.119 * [backup-simplify]: Simplify (+ 0 0) into 0 14.119 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 14.119 * [backup-simplify]: Simplify 0 into 0 14.120 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 14.121 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 14.121 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.122 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 14.122 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 14.122 * [backup-simplify]: Simplify (+ 0 0) into 0 14.123 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2)))))) into 0 14.123 * [taylor]: Taking taylor expansion of 0 in phi1 14.123 * [backup-simplify]: Simplify 0 into 0 14.123 * [backup-simplify]: Simplify 0 into 0 14.123 * [backup-simplify]: Simplify (* (sin (/ 0.5 (/ 1 phi1))) (sin (/ 0.5 (/ 1 phi2)))) into (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) 14.123 * [backup-simplify]: Simplify (* (sin (* (/ 1 (- phi2)) 0.5)) (sin (* (/ 1 (- phi1)) 0.5))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.123 * [approximate]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in (phi2 phi1) around 0 14.123 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 14.123 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 14.123 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.123 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.123 * [backup-simplify]: Simplify -0.5 into -0.5 14.123 * [taylor]: Taking taylor expansion of phi2 in phi1 14.124 * [backup-simplify]: Simplify phi2 into phi2 14.124 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.124 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.124 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.124 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 14.124 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.124 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.124 * [backup-simplify]: Simplify -0.5 into -0.5 14.124 * [taylor]: Taking taylor expansion of phi1 in phi1 14.124 * [backup-simplify]: Simplify 0 into 0 14.124 * [backup-simplify]: Simplify 1 into 1 14.124 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.124 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.124 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 14.124 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 14.124 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.124 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.124 * [backup-simplify]: Simplify -0.5 into -0.5 14.124 * [taylor]: Taking taylor expansion of phi2 in phi2 14.124 * [backup-simplify]: Simplify 0 into 0 14.124 * [backup-simplify]: Simplify 1 into 1 14.125 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.125 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.125 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 14.125 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.125 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.125 * [backup-simplify]: Simplify -0.5 into -0.5 14.125 * [taylor]: Taking taylor expansion of phi1 in phi2 14.125 * [backup-simplify]: Simplify phi1 into phi1 14.125 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.125 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.125 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.125 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 14.125 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 14.125 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.125 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.125 * [backup-simplify]: Simplify -0.5 into -0.5 14.125 * [taylor]: Taking taylor expansion of phi2 in phi2 14.125 * [backup-simplify]: Simplify 0 into 0 14.125 * [backup-simplify]: Simplify 1 into 1 14.125 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.125 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.125 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 14.125 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.125 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.125 * [backup-simplify]: Simplify -0.5 into -0.5 14.125 * [taylor]: Taking taylor expansion of phi1 in phi2 14.126 * [backup-simplify]: Simplify phi1 into phi1 14.126 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.126 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.126 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 14.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 14.126 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 14.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.126 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 14.126 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 14.126 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.126 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.126 * [backup-simplify]: Simplify -0.5 into -0.5 14.126 * [taylor]: Taking taylor expansion of phi2 in phi1 14.126 * [backup-simplify]: Simplify phi2 into phi2 14.126 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.126 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.126 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.126 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 14.126 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.126 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.126 * [backup-simplify]: Simplify -0.5 into -0.5 14.126 * [taylor]: Taking taylor expansion of phi1 in phi1 14.126 * [backup-simplify]: Simplify 0 into 0 14.126 * [backup-simplify]: Simplify 1 into 1 14.127 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.127 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 14.127 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 14.127 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 14.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.127 * [backup-simplify]: Simplify (+ 0) into 0 14.128 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.129 * [backup-simplify]: Simplify (+ 0 0) into 0 14.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 14.129 * [taylor]: Taking taylor expansion of 0 in phi1 14.129 * [backup-simplify]: Simplify 0 into 0 14.129 * [backup-simplify]: Simplify 0 into 0 14.130 * [backup-simplify]: Simplify (+ 0) into 0 14.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.130 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.131 * [backup-simplify]: Simplify (+ 0 0) into 0 14.131 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 14.131 * [backup-simplify]: Simplify 0 into 0 14.132 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.133 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.133 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.134 * [backup-simplify]: Simplify (+ 0 0) into 0 14.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 14.134 * [taylor]: Taking taylor expansion of 0 in phi1 14.134 * [backup-simplify]: Simplify 0 into 0 14.134 * [backup-simplify]: Simplify 0 into 0 14.134 * [backup-simplify]: Simplify 0 into 0 14.135 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.136 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.136 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 14.136 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.137 * [backup-simplify]: Simplify (+ 0 0) into 0 14.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 14.141 * [backup-simplify]: Simplify 0 into 0 14.142 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 14.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 14.143 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.144 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 14.144 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 14.144 * [backup-simplify]: Simplify (+ 0 0) into 0 14.145 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0 14.145 * [taylor]: Taking taylor expansion of 0 in phi1 14.145 * [backup-simplify]: Simplify 0 into 0 14.145 * [backup-simplify]: Simplify 0 into 0 14.145 * [backup-simplify]: Simplify (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.145 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 1) 14.146 * [backup-simplify]: Simplify (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) into (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) 14.146 * [approximate]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in (lambda1 lambda2 phi2 phi1) around 0 14.146 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in phi1 14.146 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi1 14.146 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi1 14.146 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 14.146 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.146 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.146 * [backup-simplify]: Simplify 0.5 into 0.5 14.146 * [taylor]: Taking taylor expansion of phi2 in phi1 14.146 * [backup-simplify]: Simplify phi2 into phi2 14.146 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.146 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.146 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.146 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.146 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.146 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.146 * [backup-simplify]: Simplify 0.5 into 0.5 14.146 * [taylor]: Taking taylor expansion of phi1 in phi1 14.146 * [backup-simplify]: Simplify 0 into 0 14.146 * [backup-simplify]: Simplify 1 into 1 14.146 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.147 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.147 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi1 14.147 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 14.147 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.147 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.147 * [backup-simplify]: Simplify 0.5 into 0.5 14.147 * [taylor]: Taking taylor expansion of phi2 in phi1 14.147 * [backup-simplify]: Simplify phi2 into phi2 14.147 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.147 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.148 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.148 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.148 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.148 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.148 * [backup-simplify]: Simplify 0.5 into 0.5 14.148 * [taylor]: Taking taylor expansion of phi1 in phi1 14.148 * [backup-simplify]: Simplify 0 into 0 14.148 * [backup-simplify]: Simplify 1 into 1 14.148 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.149 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.149 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 14.149 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.149 * [backup-simplify]: Simplify lambda1 into lambda1 14.149 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.149 * [backup-simplify]: Simplify lambda2 into lambda2 14.149 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in phi2 14.149 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi2 14.149 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi2 14.149 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.149 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.149 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.149 * [backup-simplify]: Simplify 0.5 into 0.5 14.149 * [taylor]: Taking taylor expansion of phi2 in phi2 14.149 * [backup-simplify]: Simplify 0 into 0 14.149 * [backup-simplify]: Simplify 1 into 1 14.149 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.150 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.150 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.150 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.150 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.150 * [backup-simplify]: Simplify 0.5 into 0.5 14.150 * [taylor]: Taking taylor expansion of phi1 in phi2 14.150 * [backup-simplify]: Simplify phi1 into phi1 14.150 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.150 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.151 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.151 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 14.151 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.151 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.151 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.151 * [backup-simplify]: Simplify 0.5 into 0.5 14.151 * [taylor]: Taking taylor expansion of phi2 in phi2 14.151 * [backup-simplify]: Simplify 0 into 0 14.151 * [backup-simplify]: Simplify 1 into 1 14.151 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.152 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.152 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.152 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.152 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.152 * [backup-simplify]: Simplify 0.5 into 0.5 14.152 * [taylor]: Taking taylor expansion of phi1 in phi2 14.152 * [backup-simplify]: Simplify phi1 into phi1 14.152 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.152 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.152 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.152 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 14.152 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.152 * [backup-simplify]: Simplify lambda1 into lambda1 14.152 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.152 * [backup-simplify]: Simplify lambda2 into lambda2 14.152 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in lambda2 14.152 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2 14.152 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2 14.152 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 14.152 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.152 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.152 * [backup-simplify]: Simplify 0.5 into 0.5 14.152 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.152 * [backup-simplify]: Simplify phi2 into phi2 14.152 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.152 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.153 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.153 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 14.153 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.153 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.153 * [backup-simplify]: Simplify 0.5 into 0.5 14.153 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.153 * [backup-simplify]: Simplify phi1 into phi1 14.153 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.153 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.153 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.153 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2 14.153 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 14.153 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.153 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.153 * [backup-simplify]: Simplify 0.5 into 0.5 14.153 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.153 * [backup-simplify]: Simplify phi2 into phi2 14.153 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.153 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.153 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.153 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 14.153 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.153 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.153 * [backup-simplify]: Simplify 0.5 into 0.5 14.153 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.153 * [backup-simplify]: Simplify phi1 into phi1 14.153 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.153 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.153 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.153 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 14.153 * [taylor]: Taking taylor expansion of lambda1 in lambda2 14.153 * [backup-simplify]: Simplify lambda1 into lambda1 14.153 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.153 * [backup-simplify]: Simplify 0 into 0 14.153 * [backup-simplify]: Simplify 1 into 1 14.153 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in lambda1 14.153 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda1 14.153 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda1 14.153 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 14.153 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.153 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.154 * [backup-simplify]: Simplify 0.5 into 0.5 14.154 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.154 * [backup-simplify]: Simplify phi2 into phi2 14.154 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.154 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.154 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.154 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 14.154 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.154 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.154 * [backup-simplify]: Simplify 0.5 into 0.5 14.154 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.154 * [backup-simplify]: Simplify phi1 into phi1 14.154 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.154 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.154 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.154 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda1 14.154 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 14.154 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.154 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.154 * [backup-simplify]: Simplify 0.5 into 0.5 14.154 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.154 * [backup-simplify]: Simplify phi2 into phi2 14.154 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.154 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.154 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.154 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 14.154 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.154 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.154 * [backup-simplify]: Simplify 0.5 into 0.5 14.154 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.154 * [backup-simplify]: Simplify phi1 into phi1 14.154 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.154 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.154 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.154 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 14.154 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.154 * [backup-simplify]: Simplify 0 into 0 14.154 * [backup-simplify]: Simplify 1 into 1 14.154 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.155 * [backup-simplify]: Simplify lambda2 into lambda2 14.155 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in lambda1 14.155 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda1 14.155 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda1 14.155 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 14.155 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.155 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.155 * [backup-simplify]: Simplify 0.5 into 0.5 14.155 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.155 * [backup-simplify]: Simplify phi2 into phi2 14.155 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.155 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.155 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.155 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 14.155 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.155 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.155 * [backup-simplify]: Simplify 0.5 into 0.5 14.155 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.155 * [backup-simplify]: Simplify phi1 into phi1 14.155 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.155 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.155 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.155 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda1 14.155 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 14.155 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.155 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.155 * [backup-simplify]: Simplify 0.5 into 0.5 14.155 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.155 * [backup-simplify]: Simplify phi2 into phi2 14.155 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.155 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.155 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.155 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 14.155 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.155 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.155 * [backup-simplify]: Simplify 0.5 into 0.5 14.155 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.155 * [backup-simplify]: Simplify phi1 into phi1 14.155 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.155 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.156 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.156 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 14.156 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.156 * [backup-simplify]: Simplify 0 into 0 14.156 * [backup-simplify]: Simplify 1 into 1 14.156 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.156 * [backup-simplify]: Simplify lambda2 into lambda2 14.156 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.156 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.156 * [backup-simplify]: Simplify (- 0) into 0 14.156 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.156 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.156 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.157 * [backup-simplify]: Simplify (- 0) into 0 14.157 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.157 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 14.157 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.157 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.157 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.157 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.157 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.157 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.157 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.157 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.158 * [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)))) 14.158 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 14.158 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 14.158 * [backup-simplify]: Simplify (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda2)) into (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)) 14.158 * [taylor]: Taking taylor expansion of (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)) in lambda2 14.158 * [taylor]: Taking taylor expansion of -1 in lambda2 14.158 * [backup-simplify]: Simplify -1 into -1 14.158 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2) in lambda2 14.158 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2 14.158 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2 14.158 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 14.158 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.158 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.158 * [backup-simplify]: Simplify 0.5 into 0.5 14.158 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.158 * [backup-simplify]: Simplify phi2 into phi2 14.158 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.158 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.158 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.158 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 14.158 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.158 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.158 * [backup-simplify]: Simplify 0.5 into 0.5 14.158 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.158 * [backup-simplify]: Simplify phi1 into phi1 14.158 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.158 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.158 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.159 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2 14.159 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 14.159 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.159 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.159 * [backup-simplify]: Simplify 0.5 into 0.5 14.159 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.159 * [backup-simplify]: Simplify phi2 into phi2 14.159 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.159 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.159 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.159 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 14.159 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.159 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.159 * [backup-simplify]: Simplify 0.5 into 0.5 14.159 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.159 * [backup-simplify]: Simplify phi1 into phi1 14.159 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.159 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.159 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.159 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.159 * [backup-simplify]: Simplify 0 into 0 14.159 * [backup-simplify]: Simplify 1 into 1 14.159 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.159 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.160 * [backup-simplify]: Simplify (- 0) into 0 14.160 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.160 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.160 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.160 * [backup-simplify]: Simplify (- 0) into 0 14.160 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.160 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 14.161 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.161 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.161 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.161 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.161 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.161 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.161 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.161 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.161 * [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)))) 14.161 * [backup-simplify]: Simplify (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 0) into 0 14.162 * [backup-simplify]: Simplify (* -1 0) into 0 14.162 * [taylor]: Taking taylor expansion of 0 in phi2 14.162 * [backup-simplify]: Simplify 0 into 0 14.162 * [taylor]: Taking taylor expansion of 0 in phi1 14.162 * [backup-simplify]: Simplify 0 into 0 14.162 * [backup-simplify]: Simplify 0 into 0 14.162 * [backup-simplify]: Simplify (- 0) into 0 14.162 * [backup-simplify]: Simplify (+ 1 0) into 1 14.163 * [backup-simplify]: Simplify (+ 0) into 0 14.163 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.163 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.164 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.165 * [backup-simplify]: Simplify (- 0) into 0 14.165 * [backup-simplify]: Simplify (+ 0 0) into 0 14.165 * [backup-simplify]: Simplify (+ 0) into 0 14.166 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.166 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.168 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.168 * [backup-simplify]: Simplify (- 0) into 0 14.168 * [backup-simplify]: Simplify (+ 0 0) into 0 14.168 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.169 * [backup-simplify]: Simplify (+ 0) into 0 14.169 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.170 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.171 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.171 * [backup-simplify]: Simplify (+ 0 0) into 0 14.172 * [backup-simplify]: Simplify (+ 0) into 0 14.172 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.173 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.174 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.174 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.174 * [backup-simplify]: Simplify (+ 0 0) into 0 14.175 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.175 * [backup-simplify]: Simplify (- 0) into 0 14.175 * [backup-simplify]: Simplify (+ 0 0) into 0 14.176 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 1) (* 0 (- lambda2))) into (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.176 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2 14.176 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2 14.176 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 14.176 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.176 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.176 * [backup-simplify]: Simplify 0.5 into 0.5 14.176 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.176 * [backup-simplify]: Simplify phi2 into phi2 14.176 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.176 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.176 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.176 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 14.177 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.177 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.177 * [backup-simplify]: Simplify 0.5 into 0.5 14.177 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.177 * [backup-simplify]: Simplify phi1 into phi1 14.177 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.177 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.177 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.177 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2 14.177 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 14.177 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.177 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.177 * [backup-simplify]: Simplify 0.5 into 0.5 14.177 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.177 * [backup-simplify]: Simplify phi2 into phi2 14.177 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.177 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.177 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.177 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 14.177 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.177 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.177 * [backup-simplify]: Simplify 0.5 into 0.5 14.177 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.177 * [backup-simplify]: Simplify phi1 into phi1 14.177 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.178 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.178 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.178 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.178 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.178 * [backup-simplify]: Simplify (- 0) into 0 14.178 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.179 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.179 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.179 * [backup-simplify]: Simplify (- 0) into 0 14.179 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.179 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 14.179 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.180 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.180 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.180 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.180 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.180 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.180 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.180 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.181 * [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)))) 14.181 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi2 14.181 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi2 14.181 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.181 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.181 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.181 * [backup-simplify]: Simplify 0.5 into 0.5 14.181 * [taylor]: Taking taylor expansion of phi2 in phi2 14.181 * [backup-simplify]: Simplify 0 into 0 14.181 * [backup-simplify]: Simplify 1 into 1 14.182 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.183 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.183 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.183 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.183 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.183 * [backup-simplify]: Simplify 0.5 into 0.5 14.183 * [taylor]: Taking taylor expansion of phi1 in phi2 14.183 * [backup-simplify]: Simplify phi1 into phi1 14.183 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.184 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.184 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.184 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 14.184 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.184 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.184 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.184 * [backup-simplify]: Simplify 0.5 into 0.5 14.184 * [taylor]: Taking taylor expansion of phi2 in phi2 14.184 * [backup-simplify]: Simplify 0 into 0 14.184 * [backup-simplify]: Simplify 1 into 1 14.184 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.186 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.186 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.186 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.186 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.186 * [backup-simplify]: Simplify 0.5 into 0.5 14.186 * [taylor]: Taking taylor expansion of phi1 in phi2 14.186 * [backup-simplify]: Simplify phi1 into phi1 14.186 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.186 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.186 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.186 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.187 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.187 * [backup-simplify]: Simplify (- 0) into 0 14.187 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.187 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi1))) into (cos (* 0.5 phi1)) 14.188 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.188 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.188 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.188 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi1))) into 0 14.188 * [backup-simplify]: Simplify (- 0) into 0 14.188 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.188 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.189 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.189 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.189 * [backup-simplify]: Simplify 0.5 into 0.5 14.189 * [taylor]: Taking taylor expansion of phi1 in phi1 14.189 * [backup-simplify]: Simplify 0 into 0 14.189 * [backup-simplify]: Simplify 1 into 1 14.189 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.191 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.191 * [backup-simplify]: Simplify 1 into 1 14.191 * [backup-simplify]: Simplify (+ 0) into 0 14.192 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.192 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.193 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.193 * [backup-simplify]: Simplify (- 0) into 0 14.193 * [backup-simplify]: Simplify (+ 0 0) into 0 14.194 * [backup-simplify]: Simplify (+ 0) into 0 14.194 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.194 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.195 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.195 * [backup-simplify]: Simplify (- 0) into 0 14.196 * [backup-simplify]: Simplify (+ 0 0) into 0 14.196 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.196 * [backup-simplify]: Simplify (+ 0) into 0 14.196 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.197 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.197 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.198 * [backup-simplify]: Simplify (+ 0 0) into 0 14.198 * [backup-simplify]: Simplify (+ 0) into 0 14.199 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.199 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.200 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.200 * [backup-simplify]: Simplify (+ 0 0) into 0 14.200 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.200 * [backup-simplify]: Simplify (- 0) into 0 14.200 * [backup-simplify]: Simplify (+ 0 0) into 0 14.201 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 1) (* 0 0)) into (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.201 * [backup-simplify]: Simplify (+ (* -1 (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) (* 0 0)) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))) 14.201 * [taylor]: Taking taylor expansion of (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))) in phi2 14.201 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 14.202 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.202 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.202 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.202 * [backup-simplify]: Simplify 0.5 into 0.5 14.202 * [taylor]: Taking taylor expansion of phi2 in phi2 14.202 * [backup-simplify]: Simplify 0 into 0 14.202 * [backup-simplify]: Simplify 1 into 1 14.202 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.203 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.203 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.203 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.203 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.203 * [backup-simplify]: Simplify 0.5 into 0.5 14.203 * [taylor]: Taking taylor expansion of phi1 in phi2 14.203 * [backup-simplify]: Simplify phi1 into phi1 14.203 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.203 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.203 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.203 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi2 14.203 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.203 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.203 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.203 * [backup-simplify]: Simplify 0.5 into 0.5 14.203 * [taylor]: Taking taylor expansion of phi2 in phi2 14.203 * [backup-simplify]: Simplify 0 into 0 14.203 * [backup-simplify]: Simplify 1 into 1 14.204 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.204 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.205 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.205 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.205 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.205 * [backup-simplify]: Simplify 0.5 into 0.5 14.205 * [taylor]: Taking taylor expansion of phi1 in phi2 14.205 * [backup-simplify]: Simplify phi1 into phi1 14.205 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.205 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.205 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.205 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.205 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.205 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.205 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi1))) into 0 14.205 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.205 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.205 * [backup-simplify]: Simplify (- 0) into 0 14.205 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.206 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi1))) into (cos (* 0.5 phi1)) 14.206 * [backup-simplify]: Simplify (- (cos (* 0.5 phi1))) into (- (cos (* 0.5 phi1))) 14.206 * [backup-simplify]: Simplify (+ 0 (- (cos (* 0.5 phi1)))) into (- (cos (* 0.5 phi1))) 14.206 * [taylor]: Taking taylor expansion of (- (cos (* 0.5 phi1))) in phi1 14.206 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.206 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.206 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.206 * [backup-simplify]: Simplify 0.5 into 0.5 14.206 * [taylor]: Taking taylor expansion of phi1 in phi1 14.206 * [backup-simplify]: Simplify 0 into 0 14.206 * [backup-simplify]: Simplify 1 into 1 14.206 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.207 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.207 * [backup-simplify]: Simplify (- 1) into -1 14.207 * [backup-simplify]: Simplify -1 into -1 14.208 * [taylor]: Taking taylor expansion of 0 in phi1 14.208 * [backup-simplify]: Simplify 0 into 0 14.208 * [backup-simplify]: Simplify 0 into 0 14.208 * [backup-simplify]: Simplify 0 into 0 14.208 * [backup-simplify]: Simplify (- 0) into 0 14.208 * [backup-simplify]: Simplify (+ 0 0) into 0 14.209 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.209 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.210 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.210 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.211 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.211 * [backup-simplify]: Simplify (- 0) into 0 14.211 * [backup-simplify]: Simplify (+ 0 0) into 0 14.212 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.212 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.213 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0 14.213 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.214 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.214 * [backup-simplify]: Simplify (- 0) into 0 14.214 * [backup-simplify]: Simplify (+ 0 0) into 0 14.214 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 14.215 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.215 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.216 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.216 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.217 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.217 * [backup-simplify]: Simplify (+ 0 0) into 0 14.218 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.218 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.219 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0 14.219 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.219 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.220 * [backup-simplify]: Simplify (+ 0 0) into 0 14.220 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi1))))) into 0 14.220 * [backup-simplify]: Simplify (- 0) into 0 14.221 * [backup-simplify]: Simplify (+ 0 0) into 0 14.221 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 0) (+ (* 0 1) (* 0 (- lambda2)))) into 0 14.221 * [taylor]: Taking taylor expansion of 0 in lambda2 14.221 * [backup-simplify]: Simplify 0 into 0 14.221 * [taylor]: Taking taylor expansion of 0 in phi2 14.221 * [backup-simplify]: Simplify 0 into 0 14.221 * [taylor]: Taking taylor expansion of 0 in phi1 14.221 * [backup-simplify]: Simplify 0 into 0 14.221 * [backup-simplify]: Simplify 0 into 0 14.221 * [backup-simplify]: Simplify (+ 0) into 0 14.222 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.222 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.224 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.224 * [backup-simplify]: Simplify (- 0) into 0 14.224 * [backup-simplify]: Simplify (+ 0 0) into 0 14.224 * [backup-simplify]: Simplify (+ 0) into 0 14.225 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.225 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.226 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.226 * [backup-simplify]: Simplify (- 0) into 0 14.226 * [backup-simplify]: Simplify (+ 0 0) into 0 14.227 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.227 * [backup-simplify]: Simplify (+ 0) into 0 14.227 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.227 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.228 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.228 * [backup-simplify]: Simplify (+ 0 0) into 0 14.229 * [backup-simplify]: Simplify (+ 0) into 0 14.229 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.229 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.230 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.230 * [backup-simplify]: Simplify (+ 0 0) into 0 14.231 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.231 * [backup-simplify]: Simplify (- 0) into 0 14.231 * [backup-simplify]: Simplify (+ 0 0) into 0 14.231 * [taylor]: Taking taylor expansion of 0 in phi2 14.231 * [backup-simplify]: Simplify 0 into 0 14.231 * [taylor]: Taking taylor expansion of 0 in phi1 14.231 * [backup-simplify]: Simplify 0 into 0 14.231 * [backup-simplify]: Simplify 0 into 0 14.232 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.232 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.233 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.233 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.234 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.234 * [backup-simplify]: Simplify (- 0) into 0 14.234 * [backup-simplify]: Simplify (+ 0 0) into 0 14.235 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.235 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.236 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0 14.236 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.236 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.237 * [backup-simplify]: Simplify (- 0) into 0 14.237 * [backup-simplify]: Simplify (+ 0 0) into 0 14.237 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 14.238 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.238 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.239 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.239 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.240 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.240 * [backup-simplify]: Simplify (+ 0 0) into 0 14.241 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.242 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.243 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0 14.243 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.244 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.244 * [backup-simplify]: Simplify (+ 0 0) into 0 14.245 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi1))))) into 0 14.245 * [backup-simplify]: Simplify (- 0) into 0 14.246 * [backup-simplify]: Simplify (+ 0 0) into 0 14.247 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 0) (+ (* 0 1) (* 0 0))) into 0 14.248 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) (* 0 0))) into 0 14.248 * [taylor]: Taking taylor expansion of 0 in phi2 14.248 * [backup-simplify]: Simplify 0 into 0 14.248 * [taylor]: Taking taylor expansion of 0 in phi1 14.248 * [backup-simplify]: Simplify 0 into 0 14.248 * [backup-simplify]: Simplify 0 into 0 14.249 * [backup-simplify]: Simplify (+ 0) into 0 14.249 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.250 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.251 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.251 * [backup-simplify]: Simplify (- 0) into 0 14.252 * [backup-simplify]: Simplify (+ 0 0) into 0 14.252 * [backup-simplify]: Simplify (+ 0) into 0 14.253 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.253 * [backup-simplify]: Simplify (+ 0) into 0 14.254 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.254 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.255 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.256 * [backup-simplify]: Simplify (+ 0 0) into 0 14.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.259 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi1)))) into (* 0.5 (sin (* 0.5 phi1))) 14.259 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.259 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.259 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 14.259 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 14.259 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.259 * [backup-simplify]: Simplify 0.5 into 0.5 14.259 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.259 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.259 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.259 * [backup-simplify]: Simplify 0.5 into 0.5 14.259 * [taylor]: Taking taylor expansion of phi1 in phi1 14.259 * [backup-simplify]: Simplify 0 into 0 14.259 * [backup-simplify]: Simplify 1 into 1 14.264 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.266 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.266 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.266 * [backup-simplify]: Simplify (- 0) into 0 14.266 * [backup-simplify]: Simplify 0 into 0 14.267 * [backup-simplify]: Simplify (+ (* -1 (* 1 (* 1 (* lambda2 1)))) (* 1 (* 1 (* 1 (* 1 lambda1))))) into (- lambda1 lambda2) 14.267 * [backup-simplify]: Simplify (* (- (/ 1 lambda1) (/ 1 lambda2)) (- (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) (* (sin (* (/ 1 phi2) 0.5)) (sin (* (/ 1 phi1) 0.5))))) into (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) 14.267 * [approximate]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in (lambda1 lambda2 phi2 phi1) around 0 14.267 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1 14.268 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi1 14.268 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1 14.268 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 14.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.268 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.268 * [backup-simplify]: Simplify 0.5 into 0.5 14.268 * [taylor]: Taking taylor expansion of phi1 in phi1 14.268 * [backup-simplify]: Simplify 0 into 0 14.268 * [backup-simplify]: Simplify 1 into 1 14.268 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.268 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 14.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.268 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.268 * [backup-simplify]: Simplify 0.5 into 0.5 14.268 * [taylor]: Taking taylor expansion of phi2 in phi1 14.269 * [backup-simplify]: Simplify phi2 into phi2 14.269 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.269 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.269 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.269 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 14.269 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 14.269 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.269 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.269 * [backup-simplify]: Simplify 0.5 into 0.5 14.269 * [taylor]: Taking taylor expansion of phi1 in phi1 14.269 * [backup-simplify]: Simplify 0 into 0 14.269 * [backup-simplify]: Simplify 1 into 1 14.269 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.270 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.270 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 14.270 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.270 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.270 * [backup-simplify]: Simplify 0.5 into 0.5 14.270 * [taylor]: Taking taylor expansion of phi2 in phi1 14.270 * [backup-simplify]: Simplify phi2 into phi2 14.270 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.270 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.270 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.270 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 14.270 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 14.270 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.270 * [backup-simplify]: Simplify lambda1 into lambda1 14.270 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 14.270 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 14.270 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.270 * [backup-simplify]: Simplify lambda2 into lambda2 14.270 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 14.270 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2 14.270 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi2 14.270 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2 14.270 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 14.270 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.270 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.270 * [backup-simplify]: Simplify 0.5 into 0.5 14.270 * [taylor]: Taking taylor expansion of phi1 in phi2 14.270 * [backup-simplify]: Simplify phi1 into phi1 14.271 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.271 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.271 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.271 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 14.271 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 14.271 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.271 * [backup-simplify]: Simplify 0.5 into 0.5 14.271 * [taylor]: Taking taylor expansion of phi2 in phi2 14.271 * [backup-simplify]: Simplify 0 into 0 14.271 * [backup-simplify]: Simplify 1 into 1 14.271 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.271 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.271 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 14.272 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 14.272 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.272 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.272 * [backup-simplify]: Simplify 0.5 into 0.5 14.272 * [taylor]: Taking taylor expansion of phi1 in phi2 14.272 * [backup-simplify]: Simplify phi1 into phi1 14.272 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.272 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.272 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.272 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 14.272 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 14.272 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.272 * [backup-simplify]: Simplify 0.5 into 0.5 14.272 * [taylor]: Taking taylor expansion of phi2 in phi2 14.272 * [backup-simplify]: Simplify 0 into 0 14.272 * [backup-simplify]: Simplify 1 into 1 14.273 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.273 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.273 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 14.273 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 14.273 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.273 * [backup-simplify]: Simplify lambda1 into lambda1 14.273 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 14.273 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 14.273 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.273 * [backup-simplify]: Simplify lambda2 into lambda2 14.273 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 14.273 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2 14.273 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in lambda2 14.273 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda2 14.273 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 14.273 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 14.273 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.273 * [backup-simplify]: Simplify 0.5 into 0.5 14.273 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.273 * [backup-simplify]: Simplify phi1 into phi1 14.273 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.274 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.274 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 14.274 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 14.274 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.274 * [backup-simplify]: Simplify 0.5 into 0.5 14.274 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.274 * [backup-simplify]: Simplify phi2 into phi2 14.274 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.274 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.274 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in lambda2 14.274 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 14.274 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 14.274 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.274 * [backup-simplify]: Simplify 0.5 into 0.5 14.274 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.274 * [backup-simplify]: Simplify phi1 into phi1 14.274 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.274 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.274 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 14.275 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 14.275 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.275 * [backup-simplify]: Simplify 0.5 into 0.5 14.275 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.275 * [backup-simplify]: Simplify phi2 into phi2 14.275 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.275 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.275 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.275 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 14.275 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 14.275 * [taylor]: Taking taylor expansion of lambda1 in lambda2 14.275 * [backup-simplify]: Simplify lambda1 into lambda1 14.275 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 14.275 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 14.275 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.275 * [backup-simplify]: Simplify 0 into 0 14.275 * [backup-simplify]: Simplify 1 into 1 14.276 * [backup-simplify]: Simplify (/ 1 1) into 1 14.276 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1 14.276 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in lambda1 14.276 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1 14.276 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 14.276 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 14.276 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.276 * [backup-simplify]: Simplify 0.5 into 0.5 14.276 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.276 * [backup-simplify]: Simplify phi1 into phi1 14.276 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.276 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.276 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.276 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 14.276 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 14.276 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.276 * [backup-simplify]: Simplify 0.5 into 0.5 14.276 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.276 * [backup-simplify]: Simplify phi2 into phi2 14.276 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.276 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.277 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in lambda1 14.277 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 14.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 14.277 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.277 * [backup-simplify]: Simplify 0.5 into 0.5 14.277 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.277 * [backup-simplify]: Simplify phi1 into phi1 14.277 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.277 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 14.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 14.277 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.277 * [backup-simplify]: Simplify 0.5 into 0.5 14.277 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.277 * [backup-simplify]: Simplify phi2 into phi2 14.277 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.277 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 14.277 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 14.277 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.278 * [backup-simplify]: Simplify 0 into 0 14.278 * [backup-simplify]: Simplify 1 into 1 14.278 * [backup-simplify]: Simplify (/ 1 1) into 1 14.278 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 14.278 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.278 * [backup-simplify]: Simplify lambda2 into lambda2 14.278 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 14.278 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1 14.278 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in lambda1 14.278 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1 14.278 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 14.278 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 14.278 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.278 * [backup-simplify]: Simplify 0.5 into 0.5 14.278 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.278 * [backup-simplify]: Simplify phi1 into phi1 14.278 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.279 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.279 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.279 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 14.279 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 14.279 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.279 * [backup-simplify]: Simplify 0.5 into 0.5 14.279 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.279 * [backup-simplify]: Simplify phi2 into phi2 14.279 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.279 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.279 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.279 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in lambda1 14.279 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 14.279 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 14.279 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.279 * [backup-simplify]: Simplify 0.5 into 0.5 14.279 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.279 * [backup-simplify]: Simplify phi1 into phi1 14.279 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.279 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.279 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.280 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 14.280 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 14.280 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.280 * [backup-simplify]: Simplify 0.5 into 0.5 14.280 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.280 * [backup-simplify]: Simplify phi2 into phi2 14.280 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.280 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.280 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.280 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 14.280 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 14.280 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.280 * [backup-simplify]: Simplify 0 into 0 14.280 * [backup-simplify]: Simplify 1 into 1 14.281 * [backup-simplify]: Simplify (/ 1 1) into 1 14.281 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 14.281 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.281 * [backup-simplify]: Simplify lambda2 into lambda2 14.281 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 14.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 14.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 14.282 * [backup-simplify]: Simplify (- 0) into 0 14.282 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 14.282 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 14.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 14.282 * [backup-simplify]: Simplify (- 0) into 0 14.282 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 14.283 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 14.283 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 14.283 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 14.283 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 14.283 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 14.283 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 14.283 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 14.283 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.284 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 14.284 * [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)))) 14.284 * [backup-simplify]: Simplify (+ 1 0) into 1 14.285 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 1) into (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 14.285 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in lambda2 14.285 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda2 14.285 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 14.285 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 14.285 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.285 * [backup-simplify]: Simplify 0.5 into 0.5 14.285 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.285 * [backup-simplify]: Simplify phi1 into phi1 14.285 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.285 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.285 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.285 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 14.285 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 14.285 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.285 * [backup-simplify]: Simplify 0.5 into 0.5 14.285 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.285 * [backup-simplify]: Simplify phi2 into phi2 14.286 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.286 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.286 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.286 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in lambda2 14.286 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 14.286 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 14.286 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.286 * [backup-simplify]: Simplify 0.5 into 0.5 14.286 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.286 * [backup-simplify]: Simplify phi1 into phi1 14.286 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.286 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.286 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.286 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 14.286 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 14.286 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.286 * [backup-simplify]: Simplify 0.5 into 0.5 14.286 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.286 * [backup-simplify]: Simplify phi2 into phi2 14.286 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.287 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.287 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.287 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 14.288 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 14.288 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 14.288 * [backup-simplify]: Simplify (+ 0) into 0 14.289 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.289 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.290 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.290 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.291 * [backup-simplify]: Simplify (- 0) into 0 14.291 * [backup-simplify]: Simplify (+ 0 0) into 0 14.292 * [backup-simplify]: Simplify (+ 0) into 0 14.292 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.292 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.293 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.294 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.294 * [backup-simplify]: Simplify (- 0) into 0 14.294 * [backup-simplify]: Simplify (+ 0 0) into 0 14.295 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 14.295 * [backup-simplify]: Simplify (+ 0) into 0 14.296 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.296 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.297 * [backup-simplify]: Simplify (+ 0 0) into 0 14.298 * [backup-simplify]: Simplify (+ 0) into 0 14.299 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.299 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.300 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.301 * [backup-simplify]: Simplify (+ 0 0) into 0 14.301 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 14.301 * [backup-simplify]: Simplify (- 0) into 0 14.302 * [backup-simplify]: Simplify (+ 0 0) into 0 14.303 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2)) 14.303 * [taylor]: Taking taylor expansion of (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2)) in lambda2 14.303 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) in lambda2 14.303 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in lambda2 14.303 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 14.303 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 14.303 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.303 * [backup-simplify]: Simplify 0.5 into 0.5 14.303 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.303 * [backup-simplify]: Simplify phi1 into phi1 14.303 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.303 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.303 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.303 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 14.303 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 14.303 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.304 * [backup-simplify]: Simplify 0.5 into 0.5 14.304 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.304 * [backup-simplify]: Simplify phi2 into phi2 14.304 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.304 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.304 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.304 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.304 * [backup-simplify]: Simplify 0 into 0 14.304 * [backup-simplify]: Simplify 1 into 1 14.304 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 14.304 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 14.304 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 14.304 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 14.305 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 14.305 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 14.305 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.305 * [backup-simplify]: Simplify (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 1) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.305 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2) in lambda2 14.305 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda2 14.305 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 14.305 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 14.305 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.305 * [backup-simplify]: Simplify 0.5 into 0.5 14.305 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.305 * [backup-simplify]: Simplify phi1 into phi1 14.305 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.306 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.306 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 14.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 14.306 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.306 * [backup-simplify]: Simplify 0.5 into 0.5 14.306 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.306 * [backup-simplify]: Simplify phi2 into phi2 14.306 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.306 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.306 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.306 * [backup-simplify]: Simplify 0 into 0 14.306 * [backup-simplify]: Simplify 1 into 1 14.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 14.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 14.307 * [backup-simplify]: Simplify (- 0) into 0 14.307 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 14.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 14.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 14.308 * [backup-simplify]: Simplify (- 0) into 0 14.308 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 14.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 14.308 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 1) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 14.308 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)))) into (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)))) 14.309 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) (- (* (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)))) 14.309 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)))) in phi2 14.309 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 14.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 14.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.309 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.309 * [backup-simplify]: Simplify 0.5 into 0.5 14.309 * [taylor]: Taking taylor expansion of phi1 in phi2 14.309 * [backup-simplify]: Simplify phi1 into phi1 14.309 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 14.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 14.309 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.309 * [backup-simplify]: Simplify 0.5 into 0.5 14.309 * [taylor]: Taking taylor expansion of phi2 in phi2 14.309 * [backup-simplify]: Simplify 0 into 0 14.309 * [backup-simplify]: Simplify 1 into 1 14.310 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.310 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2 14.310 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 14.310 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.310 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.310 * [backup-simplify]: Simplify 0.5 into 0.5 14.310 * [taylor]: Taking taylor expansion of phi1 in phi2 14.310 * [backup-simplify]: Simplify phi1 into phi1 14.310 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.311 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.311 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 14.311 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 14.311 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.311 * [backup-simplify]: Simplify 0.5 into 0.5 14.311 * [taylor]: Taking taylor expansion of phi2 in phi2 14.311 * [backup-simplify]: Simplify 0 into 0 14.311 * [backup-simplify]: Simplify 1 into 1 14.311 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.311 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 14.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 14.312 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 14.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 14.312 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 14.312 * [backup-simplify]: Simplify (- 0) into 0 14.313 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 14.313 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 14.313 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)))) into (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)))) 14.313 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) (- (* (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)))) 14.313 * [taylor]: Taking taylor expansion of (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)))) in phi1 14.313 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 14.313 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 14.313 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.314 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.314 * [backup-simplify]: Simplify 0.5 into 0.5 14.314 * [taylor]: Taking taylor expansion of phi1 in phi1 14.314 * [backup-simplify]: Simplify 0 into 0 14.314 * [backup-simplify]: Simplify 1 into 1 14.314 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.314 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.314 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 14.314 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.314 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.314 * [backup-simplify]: Simplify 0.5 into 0.5 14.314 * [taylor]: Taking taylor expansion of phi2 in phi1 14.314 * [backup-simplify]: Simplify phi2 into phi2 14.314 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.315 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.315 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.315 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1 14.315 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 14.315 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.315 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.315 * [backup-simplify]: Simplify 0.5 into 0.5 14.315 * [taylor]: Taking taylor expansion of phi1 in phi1 14.315 * [backup-simplify]: Simplify 0 into 0 14.315 * [backup-simplify]: Simplify 1 into 1 14.315 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.316 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 14.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.316 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.316 * [backup-simplify]: Simplify 0.5 into 0.5 14.316 * [taylor]: Taking taylor expansion of phi2 in phi1 14.316 * [backup-simplify]: Simplify phi2 into phi2 14.316 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.316 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.316 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.316 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 14.316 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 14.316 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 14.316 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.316 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 14.316 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 14.317 * [backup-simplify]: Simplify (- 0) into 0 14.317 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 14.317 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 14.317 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)))) into (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)))) 14.317 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) (- (* (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)))) 14.317 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) (* (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)))) 14.317 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 14.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 14.318 * [backup-simplify]: Simplify (- 0) into 0 14.318 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 14.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 14.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 14.318 * [backup-simplify]: Simplify (- 0) into 0 14.318 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 14.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 14.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 14.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 14.319 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 14.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 14.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 14.319 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 14.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.319 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 14.319 * [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)))) 14.319 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi2 14.319 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2 14.319 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 14.319 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.319 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.319 * [backup-simplify]: Simplify 0.5 into 0.5 14.319 * [taylor]: Taking taylor expansion of phi1 in phi2 14.319 * [backup-simplify]: Simplify phi1 into phi1 14.319 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.320 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.320 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 14.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 14.320 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.320 * [backup-simplify]: Simplify 0.5 into 0.5 14.320 * [taylor]: Taking taylor expansion of phi2 in phi2 14.320 * [backup-simplify]: Simplify 0 into 0 14.320 * [backup-simplify]: Simplify 1 into 1 14.320 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.320 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 14.320 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 14.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.320 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.320 * [backup-simplify]: Simplify 0.5 into 0.5 14.320 * [taylor]: Taking taylor expansion of phi1 in phi2 14.320 * [backup-simplify]: Simplify phi1 into phi1 14.320 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.320 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.320 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.320 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 14.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 14.320 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.320 * [backup-simplify]: Simplify 0.5 into 0.5 14.320 * [taylor]: Taking taylor expansion of phi2 in phi2 14.321 * [backup-simplify]: Simplify 0 into 0 14.321 * [backup-simplify]: Simplify 1 into 1 14.321 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.321 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 14.321 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 14.321 * [backup-simplify]: Simplify (- 0) into 0 14.321 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 14.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 14.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 14.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 14.322 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 14.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.322 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 14.322 * [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)))) 14.322 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi1 14.322 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1 14.322 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 14.322 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.322 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.322 * [backup-simplify]: Simplify 0.5 into 0.5 14.322 * [taylor]: Taking taylor expansion of phi1 in phi1 14.322 * [backup-simplify]: Simplify 0 into 0 14.322 * [backup-simplify]: Simplify 1 into 1 14.323 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.323 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.323 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 14.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.323 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.323 * [backup-simplify]: Simplify 0.5 into 0.5 14.323 * [taylor]: Taking taylor expansion of phi2 in phi1 14.323 * [backup-simplify]: Simplify phi2 into phi2 14.323 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.323 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.323 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.323 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 14.323 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 14.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.323 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.323 * [backup-simplify]: Simplify 0.5 into 0.5 14.323 * [taylor]: Taking taylor expansion of phi1 in phi1 14.323 * [backup-simplify]: Simplify 0 into 0 14.323 * [backup-simplify]: Simplify 1 into 1 14.324 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.324 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.324 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 14.324 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.324 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.324 * [backup-simplify]: Simplify 0.5 into 0.5 14.324 * [taylor]: Taking taylor expansion of phi2 in phi1 14.324 * [backup-simplify]: Simplify phi2 into phi2 14.324 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.324 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.324 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.324 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 14.324 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 14.324 * [backup-simplify]: Simplify (- 0) into 0 14.324 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 14.324 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 14.325 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 14.325 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 14.325 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 14.325 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.325 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 14.325 * [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)))) 14.325 * [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)))) 14.326 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 14.326 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 14.326 * [backup-simplify]: Simplify (- 0) into 0 14.327 * [backup-simplify]: Simplify (+ 0 0) into 0 14.327 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.328 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.328 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 14.328 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.329 * [backup-simplify]: Simplify (- 0) into 0 14.329 * [backup-simplify]: Simplify (+ 0 0) into 0 14.330 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.330 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.330 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.331 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.331 * [backup-simplify]: Simplify (- 0) into 0 14.332 * [backup-simplify]: Simplify (+ 0 0) into 0 14.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 14.332 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.333 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 14.334 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.334 * [backup-simplify]: Simplify (+ 0 0) into 0 14.335 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.335 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.336 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.336 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.336 * [backup-simplify]: Simplify (+ 0 0) into 0 14.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 14.337 * [backup-simplify]: Simplify (- 0) into 0 14.337 * [backup-simplify]: Simplify (+ 0 0) into 0 14.338 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0 14.338 * [taylor]: Taking taylor expansion of 0 in lambda2 14.338 * [backup-simplify]: Simplify 0 into 0 14.338 * [backup-simplify]: Simplify (+ 0) into 0 14.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.339 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.339 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.340 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.340 * [backup-simplify]: Simplify (+ 0 0) into 0 14.341 * [backup-simplify]: Simplify (+ 0) into 0 14.341 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.341 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.342 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.342 * [backup-simplify]: Simplify (+ 0 0) into 0 14.342 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 14.343 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) (/ 0 1)))) into 0 14.343 * [backup-simplify]: Simplify (+ 0) into 0 14.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.344 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.344 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.345 * [backup-simplify]: Simplify (- 0) into 0 14.345 * [backup-simplify]: Simplify (+ 0 0) into 0 14.346 * [backup-simplify]: Simplify (+ 0) into 0 14.346 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.346 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.346 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.347 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.347 * [backup-simplify]: Simplify (- 0) into 0 14.347 * [backup-simplify]: Simplify (+ 0 0) into 0 14.347 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 14.348 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (/ 0 1)))) into 0 14.348 * [backup-simplify]: Simplify (- 0) into 0 14.349 * [backup-simplify]: Simplify (+ 0 0) into 0 14.349 * [taylor]: Taking taylor expansion of 0 in phi2 14.349 * [backup-simplify]: Simplify 0 into 0 14.349 * [taylor]: Taking taylor expansion of 0 in phi1 14.349 * [backup-simplify]: Simplify 0 into 0 14.349 * [backup-simplify]: Simplify 0 into 0 14.349 * [backup-simplify]: Simplify (+ 0) into 0 14.349 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.349 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.350 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.350 * [backup-simplify]: Simplify (- 0) into 0 14.351 * [backup-simplify]: Simplify (+ 0 0) into 0 14.351 * [backup-simplify]: Simplify (+ 0) into 0 14.351 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.352 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.352 * [backup-simplify]: Simplify (- 0) into 0 14.353 * [backup-simplify]: Simplify (+ 0 0) into 0 14.353 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 14.353 * [backup-simplify]: Simplify (+ 0) into 0 14.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.354 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.355 * [backup-simplify]: Simplify (+ 0 0) into 0 14.355 * [backup-simplify]: Simplify (+ 0) into 0 14.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.357 * [backup-simplify]: Simplify (+ 0 0) into 0 14.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 14.357 * [backup-simplify]: Simplify (- 0) into 0 14.358 * [backup-simplify]: Simplify (+ 0 0) into 0 14.358 * [taylor]: Taking taylor expansion of 0 in phi2 14.358 * [backup-simplify]: Simplify 0 into 0 14.358 * [taylor]: Taking taylor expansion of 0 in phi1 14.358 * [backup-simplify]: Simplify 0 into 0 14.358 * [backup-simplify]: Simplify 0 into 0 14.358 * [backup-simplify]: Simplify (+ 0) into 0 14.359 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.359 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.360 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.361 * [backup-simplify]: Simplify (+ 0 0) into 0 14.361 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 14.362 * [backup-simplify]: Simplify (+ 0) into 0 14.362 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.362 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.364 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.364 * [backup-simplify]: Simplify (- 0) into 0 14.364 * [backup-simplify]: Simplify (+ 0 0) into 0 14.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 14.365 * [backup-simplify]: Simplify (- 0) into 0 14.365 * [backup-simplify]: Simplify (+ 0 0) into 0 14.365 * [taylor]: Taking taylor expansion of 0 in phi1 14.365 * [backup-simplify]: Simplify 0 into 0 14.365 * [backup-simplify]: Simplify 0 into 0 14.366 * [backup-simplify]: Simplify (+ 0) into 0 14.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.367 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.368 * [backup-simplify]: Simplify (- 0) into 0 14.369 * [backup-simplify]: Simplify (+ 0 0) into 0 14.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 14.369 * [backup-simplify]: Simplify (+ 0) into 0 14.370 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.370 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.371 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.372 * [backup-simplify]: Simplify (+ 0 0) into 0 14.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 14.372 * [backup-simplify]: Simplify (- 0) into 0 14.373 * [backup-simplify]: Simplify (+ 0 0) into 0 14.373 * [taylor]: Taking taylor expansion of 0 in phi1 14.373 * [backup-simplify]: Simplify 0 into 0 14.373 * [backup-simplify]: Simplify 0 into 0 14.373 * [backup-simplify]: Simplify (+ 0) into 0 14.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.374 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.375 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.376 * [backup-simplify]: Simplify (+ 0 0) into 0 14.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 14.376 * [backup-simplify]: Simplify (+ 0) into 0 14.377 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.377 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.378 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.379 * [backup-simplify]: Simplify (- 0) into 0 14.379 * [backup-simplify]: Simplify (+ 0 0) into 0 14.379 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 14.380 * [backup-simplify]: Simplify (- 0) into 0 14.380 * [backup-simplify]: Simplify (+ 0 0) into 0 14.380 * [backup-simplify]: Simplify 0 into 0 14.380 * [backup-simplify]: Simplify (+ 0) into 0 14.381 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.381 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.382 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.382 * [backup-simplify]: Simplify (- 0) into 0 14.382 * [backup-simplify]: Simplify (+ 0 0) into 0 14.382 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 14.382 * [backup-simplify]: Simplify (+ 0) into 0 14.383 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.383 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.384 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 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 (sin (/ 0.5 phi2)))) into 0 14.384 * [backup-simplify]: Simplify (- 0) into 0 14.385 * [backup-simplify]: Simplify (+ 0 0) into 0 14.385 * [backup-simplify]: Simplify 0 into 0 14.385 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 (/ 1 phi1))) (cos (/ 0.5 (/ 1 phi2)))) (* (sin (/ 0.5 (/ 1 phi1))) (sin (/ 0.5 (/ 1 phi2))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda1)))))) (* (- (* (sin (/ 0.5 (/ 1 phi1))) (sin (/ 0.5 (/ 1 phi2)))) (* (cos (/ 0.5 (/ 1 phi1))) (cos (/ 0.5 (/ 1 phi2))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) into (- (+ (* (cos (* 0.5 phi1)) (* (cos (* 0.5 phi2)) lambda1)) (* (sin (* 0.5 phi1)) (* lambda2 (sin (* 0.5 phi2))))) (+ (* (cos (* 0.5 phi1)) (* lambda2 (cos (* 0.5 phi2)))) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) lambda1)))) 14.386 * [backup-simplify]: Simplify (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (- (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) (* (sin (* (/ 1 (- phi2)) 0.5)) (sin (* (/ 1 (- phi1)) 0.5))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 14.386 * [approximate]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in (lambda1 lambda2 phi2 phi1) around 0 14.386 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 14.386 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 14.386 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 14.386 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.386 * [backup-simplify]: Simplify lambda2 into lambda2 14.386 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 14.386 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 14.386 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.386 * [backup-simplify]: Simplify lambda1 into lambda1 14.386 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 14.386 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 14.386 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 14.386 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 14.386 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.386 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.386 * [backup-simplify]: Simplify -0.5 into -0.5 14.386 * [taylor]: Taking taylor expansion of phi2 in phi1 14.386 * [backup-simplify]: Simplify phi2 into phi2 14.386 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.386 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.386 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 14.386 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.386 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.386 * [backup-simplify]: Simplify -0.5 into -0.5 14.386 * [taylor]: Taking taylor expansion of phi1 in phi1 14.387 * [backup-simplify]: Simplify 0 into 0 14.387 * [backup-simplify]: Simplify 1 into 1 14.387 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.387 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.387 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 14.387 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 14.387 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.387 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.387 * [backup-simplify]: Simplify -0.5 into -0.5 14.387 * [taylor]: Taking taylor expansion of phi2 in phi1 14.387 * [backup-simplify]: Simplify phi2 into phi2 14.387 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.387 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.387 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.387 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 14.387 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.387 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.387 * [backup-simplify]: Simplify -0.5 into -0.5 14.387 * [taylor]: Taking taylor expansion of phi1 in phi1 14.387 * [backup-simplify]: Simplify 0 into 0 14.387 * [backup-simplify]: Simplify 1 into 1 14.388 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.388 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.388 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 14.388 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 14.388 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 14.388 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.388 * [backup-simplify]: Simplify lambda2 into lambda2 14.388 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 14.388 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 14.388 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.388 * [backup-simplify]: Simplify lambda1 into lambda1 14.388 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 14.388 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 14.388 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 14.388 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 14.388 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.388 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.388 * [backup-simplify]: Simplify -0.5 into -0.5 14.388 * [taylor]: Taking taylor expansion of phi2 in phi2 14.388 * [backup-simplify]: Simplify 0 into 0 14.388 * [backup-simplify]: Simplify 1 into 1 14.388 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.388 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.388 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 14.388 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.388 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.389 * [backup-simplify]: Simplify -0.5 into -0.5 14.389 * [taylor]: Taking taylor expansion of phi1 in phi2 14.389 * [backup-simplify]: Simplify phi1 into phi1 14.389 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.389 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.389 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.389 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 14.389 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 14.389 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.389 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.389 * [backup-simplify]: Simplify -0.5 into -0.5 14.389 * [taylor]: Taking taylor expansion of phi2 in phi2 14.389 * [backup-simplify]: Simplify 0 into 0 14.389 * [backup-simplify]: Simplify 1 into 1 14.389 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.389 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.389 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 14.389 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.389 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.389 * [backup-simplify]: Simplify -0.5 into -0.5 14.389 * [taylor]: Taking taylor expansion of phi1 in phi2 14.389 * [backup-simplify]: Simplify phi1 into phi1 14.389 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.389 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.389 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.389 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 14.389 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 14.390 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 14.390 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.390 * [backup-simplify]: Simplify 0 into 0 14.390 * [backup-simplify]: Simplify 1 into 1 14.390 * [backup-simplify]: Simplify (/ 1 1) into 1 14.390 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 14.390 * [taylor]: Taking taylor expansion of lambda1 in lambda2 14.390 * [backup-simplify]: Simplify lambda1 into lambda1 14.390 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 14.390 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 14.390 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 14.390 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 14.390 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 14.390 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.390 * [backup-simplify]: Simplify -0.5 into -0.5 14.390 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.390 * [backup-simplify]: Simplify phi2 into phi2 14.390 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.390 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.390 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.390 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 14.390 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 14.390 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.390 * [backup-simplify]: Simplify -0.5 into -0.5 14.390 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.390 * [backup-simplify]: Simplify phi1 into phi1 14.390 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.390 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.390 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.390 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 14.391 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 14.391 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 14.391 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.391 * [backup-simplify]: Simplify -0.5 into -0.5 14.391 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.391 * [backup-simplify]: Simplify phi2 into phi2 14.391 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.391 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.391 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.391 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 14.391 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 14.391 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.391 * [backup-simplify]: Simplify -0.5 into -0.5 14.391 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.391 * [backup-simplify]: Simplify phi1 into phi1 14.391 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.391 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.391 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.391 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 14.391 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 14.391 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 14.391 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.391 * [backup-simplify]: Simplify lambda2 into lambda2 14.391 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 14.391 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 14.391 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.391 * [backup-simplify]: Simplify 0 into 0 14.391 * [backup-simplify]: Simplify 1 into 1 14.391 * [backup-simplify]: Simplify (/ 1 1) into 1 14.391 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 14.391 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 14.392 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 14.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 14.392 * [taylor]: Taking taylor expansion of -0.5 in lambda1 14.392 * [backup-simplify]: Simplify -0.5 into -0.5 14.392 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.392 * [backup-simplify]: Simplify phi2 into phi2 14.392 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.392 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.392 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.392 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 14.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 14.392 * [taylor]: Taking taylor expansion of -0.5 in lambda1 14.392 * [backup-simplify]: Simplify -0.5 into -0.5 14.392 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.392 * [backup-simplify]: Simplify phi1 into phi1 14.392 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.392 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.392 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.392 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 14.392 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 14.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 14.392 * [taylor]: Taking taylor expansion of -0.5 in lambda1 14.392 * [backup-simplify]: Simplify -0.5 into -0.5 14.392 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.392 * [backup-simplify]: Simplify phi2 into phi2 14.392 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.392 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.392 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.392 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 14.392 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 14.392 * [taylor]: Taking taylor expansion of -0.5 in lambda1 14.392 * [backup-simplify]: Simplify -0.5 into -0.5 14.392 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.392 * [backup-simplify]: Simplify phi1 into phi1 14.392 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.392 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.393 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.393 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 14.393 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 14.393 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 14.393 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.393 * [backup-simplify]: Simplify lambda2 into lambda2 14.393 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 14.393 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 14.393 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.393 * [backup-simplify]: Simplify 0 into 0 14.393 * [backup-simplify]: Simplify 1 into 1 14.393 * [backup-simplify]: Simplify (/ 1 1) into 1 14.393 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 14.393 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 14.393 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 14.393 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 14.393 * [taylor]: Taking taylor expansion of -0.5 in lambda1 14.393 * [backup-simplify]: Simplify -0.5 into -0.5 14.393 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.393 * [backup-simplify]: Simplify phi2 into phi2 14.393 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.393 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.393 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.393 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 14.393 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 14.393 * [taylor]: Taking taylor expansion of -0.5 in lambda1 14.393 * [backup-simplify]: Simplify -0.5 into -0.5 14.393 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.393 * [backup-simplify]: Simplify phi1 into phi1 14.393 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.393 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.394 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.394 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 14.394 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 14.394 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 14.394 * [taylor]: Taking taylor expansion of -0.5 in lambda1 14.394 * [backup-simplify]: Simplify -0.5 into -0.5 14.394 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.394 * [backup-simplify]: Simplify phi2 into phi2 14.394 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.394 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.394 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.394 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 14.394 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 14.394 * [taylor]: Taking taylor expansion of -0.5 in lambda1 14.394 * [backup-simplify]: Simplify -0.5 into -0.5 14.394 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.394 * [backup-simplify]: Simplify phi1 into phi1 14.394 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.394 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.394 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.394 * [backup-simplify]: Simplify (- 1) into -1 14.395 * [backup-simplify]: Simplify (+ 0 -1) into -1 14.395 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 14.395 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 14.395 * [backup-simplify]: Simplify (- 0) into 0 14.395 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 14.395 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 14.395 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 14.396 * [backup-simplify]: Simplify (- 0) into 0 14.396 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 14.396 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 14.396 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 14.396 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 14.396 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 14.396 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 14.396 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 14.396 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 14.396 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.396 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 14.396 * [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)))) 14.397 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 14.397 * [taylor]: Taking taylor expansion of (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 14.397 * [taylor]: Taking taylor expansion of -1 in lambda2 14.397 * [backup-simplify]: Simplify -1 into -1 14.397 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 14.397 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 14.397 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 14.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 14.397 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.397 * [backup-simplify]: Simplify -0.5 into -0.5 14.397 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.397 * [backup-simplify]: Simplify phi2 into phi2 14.397 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.397 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.397 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 14.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 14.397 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.397 * [backup-simplify]: Simplify -0.5 into -0.5 14.397 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.397 * [backup-simplify]: Simplify phi1 into phi1 14.397 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.397 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.397 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 14.397 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 14.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 14.397 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.397 * [backup-simplify]: Simplify -0.5 into -0.5 14.397 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.397 * [backup-simplify]: Simplify phi2 into phi2 14.397 * [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 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 14.398 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 14.398 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.398 * [backup-simplify]: Simplify -0.5 into -0.5 14.398 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.398 * [backup-simplify]: Simplify phi1 into phi1 14.398 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.398 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.398 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.398 * [backup-simplify]: Simplify (+ 0) into 0 14.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.399 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.399 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.400 * [backup-simplify]: Simplify (- 0) into 0 14.400 * [backup-simplify]: Simplify (+ 0 0) into 0 14.400 * [backup-simplify]: Simplify (+ 0) into 0 14.400 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.401 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.404 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.405 * [backup-simplify]: Simplify (- 0) into 0 14.405 * [backup-simplify]: Simplify (+ 0 0) into 0 14.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 14.405 * [backup-simplify]: Simplify (+ 0) into 0 14.406 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.406 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.406 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.407 * [backup-simplify]: Simplify (+ 0 0) into 0 14.407 * [backup-simplify]: Simplify (+ 0) into 0 14.407 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.407 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.408 * [backup-simplify]: Simplify (+ 0 0) into 0 14.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 14.409 * [backup-simplify]: Simplify (- 0) into 0 14.409 * [backup-simplify]: Simplify (+ 0 0) into 0 14.410 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 14.410 * [backup-simplify]: Simplify (- 0) into 0 14.410 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 14.411 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (- (* (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))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) 14.411 * [taylor]: Taking taylor expansion of (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) in lambda2 14.411 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) in lambda2 14.411 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 14.411 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 14.411 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 14.411 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.411 * [backup-simplify]: Simplify -0.5 into -0.5 14.411 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.411 * [backup-simplify]: Simplify phi2 into phi2 14.411 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.411 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.411 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.411 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 14.411 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 14.411 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.411 * [backup-simplify]: Simplify -0.5 into -0.5 14.411 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.411 * [backup-simplify]: Simplify phi1 into phi1 14.411 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.412 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.412 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.412 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.412 * [backup-simplify]: Simplify 0 into 0 14.412 * [backup-simplify]: Simplify 1 into 1 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 14.412 * [backup-simplify]: Simplify (- 0) into 0 14.412 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 14.412 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 14.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 14.412 * [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 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 14.413 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 1) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 14.413 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2) in lambda2 14.413 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 14.413 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 14.413 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 14.413 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.413 * [backup-simplify]: Simplify -0.5 into -0.5 14.413 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.413 * [backup-simplify]: Simplify phi2 into phi2 14.413 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.413 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.413 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.413 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 14.413 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 14.413 * [taylor]: Taking taylor expansion of -0.5 in lambda2 14.413 * [backup-simplify]: Simplify -0.5 into -0.5 14.413 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.413 * [backup-simplify]: Simplify phi1 into phi1 14.413 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.413 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.413 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.413 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.413 * [backup-simplify]: Simplify 0 into 0 14.413 * [backup-simplify]: Simplify 1 into 1 14.413 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 14.414 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 14.414 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 14.414 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 14.414 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 14.414 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 14.414 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.414 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 1) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.414 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 14.414 * [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)))) 14.414 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 14.414 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 14.414 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 14.414 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.414 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.414 * [backup-simplify]: Simplify -0.5 into -0.5 14.415 * [taylor]: Taking taylor expansion of phi2 in phi2 14.415 * [backup-simplify]: Simplify 0 into 0 14.415 * [backup-simplify]: Simplify 1 into 1 14.415 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.415 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.415 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 14.415 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.415 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.415 * [backup-simplify]: Simplify -0.5 into -0.5 14.415 * [taylor]: Taking taylor expansion of phi1 in phi2 14.415 * [backup-simplify]: Simplify phi1 into phi1 14.415 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.415 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.415 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.415 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 14.415 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 14.415 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.415 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.415 * [backup-simplify]: Simplify -0.5 into -0.5 14.415 * [taylor]: Taking taylor expansion of phi2 in phi2 14.415 * [backup-simplify]: Simplify 0 into 0 14.415 * [backup-simplify]: Simplify 1 into 1 14.416 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.416 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.416 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 14.416 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.416 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.416 * [backup-simplify]: Simplify -0.5 into -0.5 14.416 * [taylor]: Taking taylor expansion of phi1 in phi2 14.416 * [backup-simplify]: Simplify phi1 into phi1 14.416 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.416 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.417 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.417 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 14.417 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 14.417 * [backup-simplify]: Simplify (- 0) into 0 14.417 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 14.417 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 14.418 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 14.418 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 14.418 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 14.418 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.418 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 14.419 * [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)))) 14.419 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 14.419 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 14.419 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 14.419 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.419 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.419 * [backup-simplify]: Simplify -0.5 into -0.5 14.419 * [taylor]: Taking taylor expansion of phi2 in phi1 14.419 * [backup-simplify]: Simplify phi2 into phi2 14.419 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.419 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.419 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.419 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 14.419 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.419 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.419 * [backup-simplify]: Simplify -0.5 into -0.5 14.419 * [taylor]: Taking taylor expansion of phi1 in phi1 14.419 * [backup-simplify]: Simplify 0 into 0 14.419 * [backup-simplify]: Simplify 1 into 1 14.420 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.420 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.420 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 14.420 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 14.420 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.420 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.420 * [backup-simplify]: Simplify -0.5 into -0.5 14.420 * [taylor]: Taking taylor expansion of phi2 in phi1 14.420 * [backup-simplify]: Simplify phi2 into phi2 14.420 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.420 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.420 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.420 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 14.421 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.421 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.421 * [backup-simplify]: Simplify -0.5 into -0.5 14.421 * [taylor]: Taking taylor expansion of phi1 in phi1 14.421 * [backup-simplify]: Simplify 0 into 0 14.421 * [backup-simplify]: Simplify 1 into 1 14.421 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.421 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.421 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 14.422 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 14.422 * [backup-simplify]: Simplify (- 0) into 0 14.422 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 14.422 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 14.422 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 14.422 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 14.423 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 14.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.423 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 14.423 * [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)))) 14.424 * [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)))) 14.424 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 14.424 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 14.425 * [backup-simplify]: Simplify (- 0) into 0 14.425 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 14.425 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 14.425 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 14.425 * [backup-simplify]: Simplify (- 0) into 0 14.425 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 14.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 14.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 14.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 14.426 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 14.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 14.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 14.426 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 14.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.427 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 14.427 * [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)))) 14.427 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 14.427 * [taylor]: Taking taylor expansion of (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 14.427 * [taylor]: Taking taylor expansion of -1 in phi2 14.427 * [backup-simplify]: Simplify -1 into -1 14.428 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 14.428 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 14.428 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 14.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.428 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.428 * [backup-simplify]: Simplify -0.5 into -0.5 14.428 * [taylor]: Taking taylor expansion of phi2 in phi2 14.428 * [backup-simplify]: Simplify 0 into 0 14.428 * [backup-simplify]: Simplify 1 into 1 14.428 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.428 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.429 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 14.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.429 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.429 * [backup-simplify]: Simplify -0.5 into -0.5 14.429 * [taylor]: Taking taylor expansion of phi1 in phi2 14.429 * [backup-simplify]: Simplify phi1 into phi1 14.429 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.429 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.429 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 14.429 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 14.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.429 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.429 * [backup-simplify]: Simplify -0.5 into -0.5 14.429 * [taylor]: Taking taylor expansion of phi2 in phi2 14.429 * [backup-simplify]: Simplify 0 into 0 14.429 * [backup-simplify]: Simplify 1 into 1 14.430 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.430 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 14.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.430 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.430 * [backup-simplify]: Simplify -0.5 into -0.5 14.430 * [taylor]: Taking taylor expansion of phi1 in phi2 14.430 * [backup-simplify]: Simplify phi1 into phi1 14.430 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.430 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 14.431 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 14.431 * [backup-simplify]: Simplify (- 0) into 0 14.431 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 14.431 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 14.431 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 14.431 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 14.432 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 14.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.432 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 14.433 * [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)))) 14.433 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 14.433 * [taylor]: Taking taylor expansion of (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 14.433 * [taylor]: Taking taylor expansion of -1 in phi1 14.433 * [backup-simplify]: Simplify -1 into -1 14.433 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 14.433 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 14.433 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 14.433 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.433 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.433 * [backup-simplify]: Simplify -0.5 into -0.5 14.433 * [taylor]: Taking taylor expansion of phi2 in phi1 14.433 * [backup-simplify]: Simplify phi2 into phi2 14.433 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.433 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.434 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.434 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 14.434 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.434 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.434 * [backup-simplify]: Simplify -0.5 into -0.5 14.434 * [taylor]: Taking taylor expansion of phi1 in phi1 14.434 * [backup-simplify]: Simplify 0 into 0 14.434 * [backup-simplify]: Simplify 1 into 1 14.434 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.435 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.435 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 14.435 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 14.435 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.435 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.435 * [backup-simplify]: Simplify -0.5 into -0.5 14.435 * [taylor]: Taking taylor expansion of phi2 in phi1 14.435 * [backup-simplify]: Simplify phi2 into phi2 14.435 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.435 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.435 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.435 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 14.435 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.435 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.435 * [backup-simplify]: Simplify -0.5 into -0.5 14.435 * [taylor]: Taking taylor expansion of phi1 in phi1 14.435 * [backup-simplify]: Simplify 0 into 0 14.435 * [backup-simplify]: Simplify 1 into 1 14.436 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.436 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.436 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 14.436 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 14.436 * [backup-simplify]: Simplify (- 0) into 0 14.437 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 14.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 14.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 14.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 14.437 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 14.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.438 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 14.438 * [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)))) 14.438 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 14.439 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 14.440 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.441 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.441 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.442 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.442 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.443 * [backup-simplify]: Simplify (- 0) into 0 14.443 * [backup-simplify]: Simplify (+ 0 0) into 0 14.444 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.445 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.445 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 14.446 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.447 * [backup-simplify]: Simplify (- 0) into 0 14.447 * [backup-simplify]: Simplify (+ 0 0) into 0 14.448 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 14.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.450 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.451 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.452 * [backup-simplify]: Simplify (+ 0 0) into 0 14.453 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.454 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.454 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 14.455 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.455 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.456 * [backup-simplify]: Simplify (+ 0 0) into 0 14.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 14.457 * [backup-simplify]: Simplify (- 0) into 0 14.457 * [backup-simplify]: Simplify (+ 0 0) into 0 14.457 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 14.458 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 14.459 * [backup-simplify]: Simplify (- 0) into 0 14.459 * [backup-simplify]: Simplify (+ 0 0) into 0 14.460 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 14.460 * [taylor]: Taking taylor expansion of 0 in lambda2 14.460 * [backup-simplify]: Simplify 0 into 0 14.461 * [backup-simplify]: Simplify (+ 0) into 0 14.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.461 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.462 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.463 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 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 (+ 0) into 0 14.464 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.465 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.466 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.466 * [backup-simplify]: Simplify (- 0) into 0 14.467 * [backup-simplify]: Simplify (+ 0 0) into 0 14.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 14.468 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (/ 0 1)))) into 0 14.468 * [backup-simplify]: Simplify (+ 0) into 0 14.469 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.469 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.470 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.470 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.471 * [backup-simplify]: Simplify (+ 0 0) into 0 14.471 * [backup-simplify]: Simplify (+ 0) into 0 14.472 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.472 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.473 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.473 * [backup-simplify]: Simplify (+ 0 0) into 0 14.474 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 14.475 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) (/ 0 1)))) into 0 14.475 * [backup-simplify]: Simplify (- 0) into 0 14.475 * [backup-simplify]: Simplify (+ 0 0) into 0 14.475 * [taylor]: Taking taylor expansion of 0 in phi2 14.476 * [backup-simplify]: Simplify 0 into 0 14.476 * [taylor]: Taking taylor expansion of 0 in phi1 14.476 * [backup-simplify]: Simplify 0 into 0 14.476 * [backup-simplify]: Simplify 0 into 0 14.476 * [backup-simplify]: Simplify (+ 0) into 0 14.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.477 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.478 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.478 * [backup-simplify]: Simplify (- 0) into 0 14.479 * [backup-simplify]: Simplify (+ 0 0) into 0 14.479 * [backup-simplify]: Simplify (+ 0) into 0 14.480 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.480 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.481 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.482 * [backup-simplify]: Simplify (- 0) into 0 14.482 * [backup-simplify]: Simplify (+ 0 0) into 0 14.482 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 14.483 * [backup-simplify]: Simplify (+ 0) into 0 14.483 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.483 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.484 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.485 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.485 * [backup-simplify]: Simplify (+ 0 0) into 0 14.485 * [backup-simplify]: Simplify (+ 0) into 0 14.485 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.486 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.486 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.487 * [backup-simplify]: Simplify (+ 0 0) into 0 14.487 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 14.487 * [backup-simplify]: Simplify (- 0) into 0 14.487 * [backup-simplify]: Simplify (+ 0 0) into 0 14.488 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 14.488 * [taylor]: Taking taylor expansion of 0 in phi2 14.488 * [backup-simplify]: Simplify 0 into 0 14.488 * [taylor]: Taking taylor expansion of 0 in phi1 14.488 * [backup-simplify]: Simplify 0 into 0 14.488 * [backup-simplify]: Simplify 0 into 0 14.488 * [backup-simplify]: Simplify (+ 0) into 0 14.488 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.489 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.489 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.490 * [backup-simplify]: Simplify (- 0) into 0 14.490 * [backup-simplify]: Simplify (+ 0 0) into 0 14.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 14.490 * [backup-simplify]: Simplify (+ 0) into 0 14.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.491 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.492 * [backup-simplify]: Simplify (+ 0 0) into 0 14.492 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 14.492 * [backup-simplify]: Simplify (- 0) into 0 14.493 * [backup-simplify]: Simplify (+ 0 0) into 0 14.493 * [taylor]: Taking taylor expansion of 0 in phi1 14.493 * [backup-simplify]: Simplify 0 into 0 14.493 * [backup-simplify]: Simplify 0 into 0 14.493 * [backup-simplify]: Simplify (+ 0) into 0 14.493 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.494 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.494 * [backup-simplify]: Simplify (- 0) into 0 14.495 * [backup-simplify]: Simplify (+ 0 0) into 0 14.495 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 14.495 * [backup-simplify]: Simplify (+ 0) into 0 14.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.495 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.496 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.496 * [backup-simplify]: Simplify (+ 0 0) into 0 14.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 14.497 * [backup-simplify]: Simplify (- 0) into 0 14.497 * [backup-simplify]: Simplify (+ 0 0) into 0 14.498 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 14.498 * [taylor]: Taking taylor expansion of 0 in phi1 14.498 * [backup-simplify]: Simplify 0 into 0 14.498 * [backup-simplify]: Simplify 0 into 0 14.498 * [backup-simplify]: Simplify (+ 0) into 0 14.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.498 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.499 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.499 * [backup-simplify]: Simplify (- 0) into 0 14.500 * [backup-simplify]: Simplify (+ 0 0) into 0 14.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 14.500 * [backup-simplify]: Simplify (+ 0) into 0 14.500 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.501 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.502 * [backup-simplify]: Simplify (+ 0 0) into 0 14.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 14.502 * [backup-simplify]: Simplify (- 0) into 0 14.502 * [backup-simplify]: Simplify (+ 0 0) into 0 14.502 * [backup-simplify]: Simplify 0 into 0 14.502 * [backup-simplify]: Simplify (+ 0) into 0 14.503 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.503 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.504 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.504 * [backup-simplify]: Simplify (- 0) into 0 14.504 * [backup-simplify]: Simplify (+ 0 0) into 0 14.504 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 14.505 * [backup-simplify]: Simplify (+ 0) into 0 14.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.505 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.506 * [backup-simplify]: Simplify (+ 0 0) into 0 14.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 14.507 * [backup-simplify]: Simplify (- 0) into 0 14.507 * [backup-simplify]: Simplify (+ 0 0) into 0 14.507 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 14.507 * [backup-simplify]: Simplify 0 into 0 14.508 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda1))))))) (* (- (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1)))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) into (- (+ (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) lambda1)) (* (sin (* 0.5 phi2)) (* lambda2 (sin (* 0.5 phi1))))) (+ (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) lambda2)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda1)))) 14.508 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 1 2) 14.509 * [backup-simplify]: Simplify (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) into (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.509 * [approximate]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in (phi2 phi1) around 0 14.509 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi1 14.509 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi1 14.509 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 14.509 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.509 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.509 * [backup-simplify]: Simplify 0.5 into 0.5 14.509 * [taylor]: Taking taylor expansion of phi2 in phi1 14.509 * [backup-simplify]: Simplify phi2 into phi2 14.509 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.509 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.509 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.509 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.509 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.509 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.509 * [backup-simplify]: Simplify 0.5 into 0.5 14.509 * [taylor]: Taking taylor expansion of phi1 in phi1 14.509 * [backup-simplify]: Simplify 0 into 0 14.509 * [backup-simplify]: Simplify 1 into 1 14.509 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.510 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.510 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi1 14.510 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 14.510 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.510 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.511 * [backup-simplify]: Simplify 0.5 into 0.5 14.511 * [taylor]: Taking taylor expansion of phi2 in phi1 14.511 * [backup-simplify]: Simplify phi2 into phi2 14.511 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.511 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.511 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.511 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.511 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.511 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.511 * [backup-simplify]: Simplify 0.5 into 0.5 14.511 * [taylor]: Taking taylor expansion of phi1 in phi1 14.511 * [backup-simplify]: Simplify 0 into 0 14.511 * [backup-simplify]: Simplify 1 into 1 14.511 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.512 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.512 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi2 14.512 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi2 14.512 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.512 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.512 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.512 * [backup-simplify]: Simplify 0.5 into 0.5 14.512 * [taylor]: Taking taylor expansion of phi2 in phi2 14.512 * [backup-simplify]: Simplify 0 into 0 14.512 * [backup-simplify]: Simplify 1 into 1 14.512 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.513 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.513 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.513 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.513 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.513 * [backup-simplify]: Simplify 0.5 into 0.5 14.513 * [taylor]: Taking taylor expansion of phi1 in phi2 14.513 * [backup-simplify]: Simplify phi1 into phi1 14.513 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.514 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.514 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.514 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 14.514 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.514 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.514 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.514 * [backup-simplify]: Simplify 0.5 into 0.5 14.514 * [taylor]: Taking taylor expansion of phi2 in phi2 14.514 * [backup-simplify]: Simplify 0 into 0 14.514 * [backup-simplify]: Simplify 1 into 1 14.514 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.515 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.515 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.515 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.515 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.515 * [backup-simplify]: Simplify 0.5 into 0.5 14.515 * [taylor]: Taking taylor expansion of phi1 in phi2 14.515 * [backup-simplify]: Simplify phi1 into phi1 14.515 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.515 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.515 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.515 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi2 14.515 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi2 14.515 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.515 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.515 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.515 * [backup-simplify]: Simplify 0.5 into 0.5 14.515 * [taylor]: Taking taylor expansion of phi2 in phi2 14.515 * [backup-simplify]: Simplify 0 into 0 14.515 * [backup-simplify]: Simplify 1 into 1 14.516 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.517 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.517 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.517 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.517 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.517 * [backup-simplify]: Simplify 0.5 into 0.5 14.517 * [taylor]: Taking taylor expansion of phi1 in phi2 14.517 * [backup-simplify]: Simplify phi1 into phi1 14.517 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.517 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.517 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.517 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 14.517 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.517 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.517 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.517 * [backup-simplify]: Simplify 0.5 into 0.5 14.517 * [taylor]: Taking taylor expansion of phi2 in phi2 14.517 * [backup-simplify]: Simplify 0 into 0 14.517 * [backup-simplify]: Simplify 1 into 1 14.517 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.518 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.518 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.518 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.518 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.518 * [backup-simplify]: Simplify 0.5 into 0.5 14.518 * [taylor]: Taking taylor expansion of phi1 in phi2 14.518 * [backup-simplify]: Simplify phi1 into phi1 14.518 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.518 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.518 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.518 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.519 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.519 * [backup-simplify]: Simplify (- 0) into 0 14.519 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.519 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi1))) into (cos (* 0.5 phi1)) 14.519 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.519 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.519 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.519 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi1))) into 0 14.519 * [backup-simplify]: Simplify (- 0) into 0 14.520 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.520 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.520 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.520 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.520 * [backup-simplify]: Simplify 0.5 into 0.5 14.520 * [taylor]: Taking taylor expansion of phi1 in phi1 14.520 * [backup-simplify]: Simplify 0 into 0 14.520 * [backup-simplify]: Simplify 1 into 1 14.520 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.521 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.521 * [backup-simplify]: Simplify 1 into 1 14.522 * [backup-simplify]: Simplify (+ 0) into 0 14.522 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.523 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.524 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.525 * [backup-simplify]: Simplify (- 0) into 0 14.525 * [backup-simplify]: Simplify (+ 0 0) into 0 14.526 * [backup-simplify]: Simplify (+ 0) into 0 14.526 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.527 * [backup-simplify]: Simplify (+ 0) into 0 14.527 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.528 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.529 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.529 * [backup-simplify]: Simplify (+ 0 0) into 0 14.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.532 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi1)))) into (* 0.5 (sin (* 0.5 phi1))) 14.533 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.533 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.533 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1 14.533 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1 14.533 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.533 * [backup-simplify]: Simplify 0.5 into 0.5 14.533 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.533 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.533 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.533 * [backup-simplify]: Simplify 0.5 into 0.5 14.533 * [taylor]: Taking taylor expansion of phi1 in phi1 14.533 * [backup-simplify]: Simplify 0 into 0 14.533 * [backup-simplify]: Simplify 1 into 1 14.534 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.535 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.536 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.536 * [backup-simplify]: Simplify (- 0) into 0 14.536 * [backup-simplify]: Simplify 0 into 0 14.536 * [backup-simplify]: Simplify (+ 0) into 0 14.536 * [backup-simplify]: Simplify 0 into 0 14.537 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.538 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.539 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.540 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.545 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.546 * [backup-simplify]: Simplify (- 0) into 0 14.546 * [backup-simplify]: Simplify (+ 0 0) into 0 14.549 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 14.550 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.125) (cos (* 0.5 phi1))))) into (- (* 0.125 (cos (* 0.5 phi1)))) 14.551 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.552 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.553 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 14.554 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.554 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.555 * [backup-simplify]: Simplify (+ 0 0) into 0 14.555 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 14.556 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.557 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (sin (* 0.5 phi1))))) into 0 14.558 * [backup-simplify]: Simplify (- 0) into 0 14.558 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1)))) 14.558 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1 14.558 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1 14.558 * [taylor]: Taking taylor expansion of 0.125 in phi1 14.558 * [backup-simplify]: Simplify 0.125 into 0.125 14.558 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.558 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.558 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.558 * [backup-simplify]: Simplify 0.5 into 0.5 14.558 * [taylor]: Taking taylor expansion of phi1 in phi1 14.558 * [backup-simplify]: Simplify 0 into 0 14.558 * [backup-simplify]: Simplify 1 into 1 14.559 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.560 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.561 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 14.561 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 14.562 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 14.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.566 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 14.567 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 14.567 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 14.568 * [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)))) 14.569 * [backup-simplify]: Simplify (- (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) (* (sin (* (/ 1 phi2) 0.5)) (sin (* (/ 1 phi1) 0.5)))) into (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 14.569 * [approximate]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in (phi2 phi1) around 0 14.569 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi1 14.569 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1 14.569 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 14.569 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.569 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.569 * [backup-simplify]: Simplify 0.5 into 0.5 14.569 * [taylor]: Taking taylor expansion of phi1 in phi1 14.569 * [backup-simplify]: Simplify 0 into 0 14.569 * [backup-simplify]: Simplify 1 into 1 14.569 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.570 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.570 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 14.570 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.570 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.570 * [backup-simplify]: Simplify 0.5 into 0.5 14.570 * [taylor]: Taking taylor expansion of phi2 in phi1 14.570 * [backup-simplify]: Simplify phi2 into phi2 14.570 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.570 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.570 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.570 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 14.570 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 14.570 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.570 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.570 * [backup-simplify]: Simplify 0.5 into 0.5 14.570 * [taylor]: Taking taylor expansion of phi1 in phi1 14.570 * [backup-simplify]: Simplify 0 into 0 14.570 * [backup-simplify]: Simplify 1 into 1 14.571 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.571 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.571 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 14.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.571 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.571 * [backup-simplify]: Simplify 0.5 into 0.5 14.571 * [taylor]: Taking taylor expansion of phi2 in phi1 14.571 * [backup-simplify]: Simplify phi2 into phi2 14.571 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.571 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.571 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi2 14.571 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2 14.571 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 14.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.571 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.571 * [backup-simplify]: Simplify 0.5 into 0.5 14.571 * [taylor]: Taking taylor expansion of phi1 in phi2 14.571 * [backup-simplify]: Simplify phi1 into phi1 14.572 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.572 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.572 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.572 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 14.572 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 14.572 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.572 * [backup-simplify]: Simplify 0.5 into 0.5 14.572 * [taylor]: Taking taylor expansion of phi2 in phi2 14.572 * [backup-simplify]: Simplify 0 into 0 14.572 * [backup-simplify]: Simplify 1 into 1 14.572 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.572 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.573 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 14.573 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 14.573 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.573 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.573 * [backup-simplify]: Simplify 0.5 into 0.5 14.573 * [taylor]: Taking taylor expansion of phi1 in phi2 14.573 * [backup-simplify]: Simplify phi1 into phi1 14.573 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.573 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.573 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.573 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 14.573 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 14.573 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.573 * [backup-simplify]: Simplify 0.5 into 0.5 14.573 * [taylor]: Taking taylor expansion of phi2 in phi2 14.573 * [backup-simplify]: Simplify 0 into 0 14.573 * [backup-simplify]: Simplify 1 into 1 14.574 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.574 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.574 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi2 14.574 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2 14.574 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 14.574 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.574 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.574 * [backup-simplify]: Simplify 0.5 into 0.5 14.574 * [taylor]: Taking taylor expansion of phi1 in phi2 14.574 * [backup-simplify]: Simplify phi1 into phi1 14.574 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.574 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.574 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.574 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 14.574 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 14.574 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.574 * [backup-simplify]: Simplify 0.5 into 0.5 14.574 * [taylor]: Taking taylor expansion of phi2 in phi2 14.574 * [backup-simplify]: Simplify 0 into 0 14.574 * [backup-simplify]: Simplify 1 into 1 14.575 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.575 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.575 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 14.575 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 14.575 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 14.575 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.575 * [backup-simplify]: Simplify 0.5 into 0.5 14.575 * [taylor]: Taking taylor expansion of phi1 in phi2 14.575 * [backup-simplify]: Simplify phi1 into phi1 14.575 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 14.575 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.575 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.575 * [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 14.576 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.576 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.576 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 14.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 14.577 * [backup-simplify]: Simplify (- 0) into 0 14.577 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 14.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 14.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 14.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 14.578 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 14.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.578 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 14.578 * [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)))) 14.578 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi1 14.578 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1 14.578 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 14.579 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.579 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.579 * [backup-simplify]: Simplify 0.5 into 0.5 14.579 * [taylor]: Taking taylor expansion of phi1 in phi1 14.579 * [backup-simplify]: Simplify 0 into 0 14.579 * [backup-simplify]: Simplify 1 into 1 14.579 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.579 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 14.579 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 14.579 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.579 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.579 * [backup-simplify]: Simplify 0.5 into 0.5 14.579 * [taylor]: Taking taylor expansion of phi2 in phi1 14.579 * [backup-simplify]: Simplify phi2 into phi2 14.580 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.580 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.580 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.580 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 14.580 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 14.580 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 14.580 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.580 * [backup-simplify]: Simplify 0.5 into 0.5 14.580 * [taylor]: Taking taylor expansion of phi1 in phi1 14.580 * [backup-simplify]: Simplify 0 into 0 14.580 * [backup-simplify]: Simplify 1 into 1 14.580 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 14.581 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 14.581 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 14.581 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 14.581 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.581 * [backup-simplify]: Simplify 0.5 into 0.5 14.581 * [taylor]: Taking taylor expansion of phi2 in phi1 14.581 * [backup-simplify]: Simplify phi2 into phi2 14.581 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 14.581 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 14.581 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 14.581 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 14.581 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 14.582 * [backup-simplify]: Simplify (- 0) into 0 14.582 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 14.582 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 14.582 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 14.582 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 14.582 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 14.582 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 14.583 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 14.583 * [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)))) 14.583 * [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)))) 14.584 * [backup-simplify]: Simplify (+ 0) into 0 14.584 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.586 * [backup-simplify]: Simplify (- 0) into 0 14.586 * [backup-simplify]: Simplify (+ 0 0) into 0 14.587 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 14.587 * [backup-simplify]: Simplify (+ 0) into 0 14.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 14.588 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 14.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.589 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 14.589 * [backup-simplify]: Simplify (+ 0 0) into 0 14.590 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 14.590 * [backup-simplify]: Simplify (- 0) into 0 14.590 * [backup-simplify]: Simplify (+ 0 0) into 0 14.590 * [taylor]: Taking taylor expansion of 0 in phi1 14.590 * [backup-simplify]: Simplify 0 into 0 14.591 * [backup-simplify]: Simplify 0 into 0 14.591 * [backup-simplify]: Simplify (+ 0) into 0 14.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.592 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.593 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.593 * [backup-simplify]: Simplify (- 0) into 0 14.594 * [backup-simplify]: Simplify (+ 0 0) into 0 14.594 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 14.594 * [backup-simplify]: Simplify (+ 0) into 0 14.595 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 14.595 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 14.596 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.596 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 14.597 * [backup-simplify]: Simplify (+ 0 0) into 0 14.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 14.597 * [backup-simplify]: Simplify (- 0) into 0 14.598 * [backup-simplify]: Simplify (+ 0 0) into 0 14.598 * [backup-simplify]: Simplify 0 into 0 14.599 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.599 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.600 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.601 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.601 * [backup-simplify]: Simplify (- 0) into 0 14.602 * [backup-simplify]: Simplify (+ 0 0) into 0 14.602 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 14.603 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.604 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.605 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.606 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.606 * [backup-simplify]: Simplify (+ 0 0) into 0 14.607 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 14.607 * [backup-simplify]: Simplify (- 0) into 0 14.607 * [backup-simplify]: Simplify (+ 0 0) into 0 14.607 * [taylor]: Taking taylor expansion of 0 in phi1 14.607 * [backup-simplify]: Simplify 0 into 0 14.608 * [backup-simplify]: Simplify 0 into 0 14.608 * [backup-simplify]: Simplify 0 into 0 14.609 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.610 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.610 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 14.611 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.612 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.612 * [backup-simplify]: Simplify (- 0) into 0 14.612 * [backup-simplify]: Simplify (+ 0 0) into 0 14.613 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 14.614 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.615 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.615 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 14.616 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.617 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.617 * [backup-simplify]: Simplify (+ 0 0) into 0 14.618 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 14.618 * [backup-simplify]: Simplify (- 0) into 0 14.619 * [backup-simplify]: Simplify (+ 0 0) into 0 14.619 * [backup-simplify]: Simplify 0 into 0 14.620 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 14.620 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 14.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.622 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 14.623 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 14.623 * [backup-simplify]: Simplify (- 0) into 0 14.624 * [backup-simplify]: Simplify (+ 0 0) into 0 14.625 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0 14.626 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 14.626 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 14.627 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.628 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 14.629 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 14.629 * [backup-simplify]: Simplify (+ 0 0) into 0 14.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2)))))) into 0 14.631 * [backup-simplify]: Simplify (- 0) into 0 14.631 * [backup-simplify]: Simplify (+ 0 0) into 0 14.631 * [taylor]: Taking taylor expansion of 0 in phi1 14.631 * [backup-simplify]: Simplify 0 into 0 14.631 * [backup-simplify]: Simplify 0 into 0 14.632 * [backup-simplify]: Simplify (- (* (cos (/ 0.5 (/ 1 phi1))) (cos (/ 0.5 (/ 1 phi2)))) (* (sin (/ 0.5 (/ 1 phi1))) (sin (/ 0.5 (/ 1 phi2))))) into (- (* (cos (* 0.5 phi1)) (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2)))) 14.632 * [backup-simplify]: Simplify (- (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) (* (sin (* (/ 1 (- phi2)) 0.5)) (sin (* (/ 1 (- phi1)) 0.5)))) into (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 14.633 * [approximate]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in (phi2 phi1) around 0 14.633 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 14.633 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 14.633 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 14.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.633 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.633 * [backup-simplify]: Simplify -0.5 into -0.5 14.633 * [taylor]: Taking taylor expansion of phi2 in phi1 14.633 * [backup-simplify]: Simplify phi2 into phi2 14.633 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.633 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.633 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.633 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 14.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.633 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.633 * [backup-simplify]: Simplify -0.5 into -0.5 14.633 * [taylor]: Taking taylor expansion of phi1 in phi1 14.633 * [backup-simplify]: Simplify 0 into 0 14.633 * [backup-simplify]: Simplify 1 into 1 14.634 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.634 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.634 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 14.634 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 14.634 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.634 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.634 * [backup-simplify]: Simplify -0.5 into -0.5 14.634 * [taylor]: Taking taylor expansion of phi2 in phi1 14.634 * [backup-simplify]: Simplify phi2 into phi2 14.634 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.634 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.635 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.635 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 14.635 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.635 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.635 * [backup-simplify]: Simplify -0.5 into -0.5 14.635 * [taylor]: Taking taylor expansion of phi1 in phi1 14.635 * [backup-simplify]: Simplify 0 into 0 14.635 * [backup-simplify]: Simplify 1 into 1 14.635 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.635 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.635 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 14.635 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 14.635 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 14.635 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.635 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.635 * [backup-simplify]: Simplify -0.5 into -0.5 14.636 * [taylor]: Taking taylor expansion of phi2 in phi2 14.636 * [backup-simplify]: Simplify 0 into 0 14.636 * [backup-simplify]: Simplify 1 into 1 14.636 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.636 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.636 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 14.636 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.636 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.636 * [backup-simplify]: Simplify -0.5 into -0.5 14.636 * [taylor]: Taking taylor expansion of phi1 in phi2 14.636 * [backup-simplify]: Simplify phi1 into phi1 14.636 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.636 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.636 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.637 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 14.637 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 14.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.637 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.637 * [backup-simplify]: Simplify -0.5 into -0.5 14.637 * [taylor]: Taking taylor expansion of phi2 in phi2 14.637 * [backup-simplify]: Simplify 0 into 0 14.637 * [backup-simplify]: Simplify 1 into 1 14.637 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.637 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.637 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 14.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.637 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.637 * [backup-simplify]: Simplify -0.5 into -0.5 14.637 * [taylor]: Taking taylor expansion of phi1 in phi2 14.637 * [backup-simplify]: Simplify phi1 into phi1 14.637 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.638 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.638 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 14.638 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 14.638 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 14.638 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.638 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.638 * [backup-simplify]: Simplify -0.5 into -0.5 14.638 * [taylor]: Taking taylor expansion of phi2 in phi2 14.638 * [backup-simplify]: Simplify 0 into 0 14.638 * [backup-simplify]: Simplify 1 into 1 14.638 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.638 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 14.639 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.639 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.639 * [backup-simplify]: Simplify -0.5 into -0.5 14.639 * [taylor]: Taking taylor expansion of phi1 in phi2 14.639 * [backup-simplify]: Simplify phi1 into phi1 14.639 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.639 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.639 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.639 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 14.639 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 14.639 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 14.639 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.639 * [backup-simplify]: Simplify -0.5 into -0.5 14.639 * [taylor]: Taking taylor expansion of phi2 in phi2 14.639 * [backup-simplify]: Simplify 0 into 0 14.639 * [backup-simplify]: Simplify 1 into 1 14.640 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.640 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.640 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 14.640 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 14.640 * [taylor]: Taking taylor expansion of -0.5 in phi2 14.640 * [backup-simplify]: Simplify -0.5 into -0.5 14.640 * [taylor]: Taking taylor expansion of phi1 in phi2 14.640 * [backup-simplify]: Simplify phi1 into phi1 14.640 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 14.640 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.640 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.640 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 14.641 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 14.641 * [backup-simplify]: Simplify (- 0) into 0 14.641 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 14.641 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 14.641 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 14.642 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 14.642 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 14.642 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.642 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 14.642 * [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)))) 14.642 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 14.643 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 14.643 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 14.643 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.643 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.643 * [backup-simplify]: Simplify -0.5 into -0.5 14.643 * [taylor]: Taking taylor expansion of phi2 in phi1 14.643 * [backup-simplify]: Simplify phi2 into phi2 14.643 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.643 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.643 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.643 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 14.643 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.643 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.643 * [backup-simplify]: Simplify -0.5 into -0.5 14.643 * [taylor]: Taking taylor expansion of phi1 in phi1 14.643 * [backup-simplify]: Simplify 0 into 0 14.643 * [backup-simplify]: Simplify 1 into 1 14.644 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.644 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 14.644 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 14.644 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 14.644 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 14.644 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.644 * [backup-simplify]: Simplify -0.5 into -0.5 14.644 * [taylor]: Taking taylor expansion of phi2 in phi1 14.644 * [backup-simplify]: Simplify phi2 into phi2 14.644 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 14.644 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 14.644 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 14.644 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 14.644 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 14.644 * [taylor]: Taking taylor expansion of -0.5 in phi1 14.644 * [backup-simplify]: Simplify -0.5 into -0.5 14.644 * [taylor]: Taking taylor expansion of phi1 in phi1 14.644 * [backup-simplify]: Simplify 0 into 0 14.644 * [backup-simplify]: Simplify 1 into 1 14.645 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 14.645 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 14.645 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 14.645 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 14.646 * [backup-simplify]: Simplify (- 0) into 0 14.646 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 14.646 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 14.646 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 14.646 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 14.646 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 14.646 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 14.647 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 14.647 * [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)))) 14.647 * [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)))) 14.648 * [backup-simplify]: Simplify (+ 0) into 0 14.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.649 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.650 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.651 * [backup-simplify]: Simplify (- 0) into 0 14.651 * [backup-simplify]: Simplify (+ 0 0) into 0 14.651 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 14.652 * [backup-simplify]: Simplify (+ 0) into 0 14.652 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 14.652 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 14.653 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.654 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 14.654 * [backup-simplify]: Simplify (+ 0 0) into 0 14.654 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 14.655 * [backup-simplify]: Simplify (- 0) into 0 14.655 * [backup-simplify]: Simplify (+ 0 0) into 0 14.655 * [taylor]: Taking taylor expansion of 0 in phi1 14.655 * [backup-simplify]: Simplify 0 into 0 14.655 * [backup-simplify]: Simplify 0 into 0 14.656 * [backup-simplify]: Simplify (+ 0) into 0 14.656 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.656 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.657 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.658 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.658 * [backup-simplify]: Simplify (- 0) into 0 14.658 * [backup-simplify]: Simplify (+ 0 0) into 0 14.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 14.659 * [backup-simplify]: Simplify (+ 0) into 0 14.659 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 14.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 14.660 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.661 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 14.662 * [backup-simplify]: Simplify (+ 0 0) into 0 14.662 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 14.662 * [backup-simplify]: Simplify (- 0) into 0 14.663 * [backup-simplify]: Simplify (+ 0 0) into 0 14.663 * [backup-simplify]: Simplify 0 into 0 14.664 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.664 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.665 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.665 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.666 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.666 * [backup-simplify]: Simplify (- 0) into 0 14.667 * [backup-simplify]: Simplify (+ 0 0) into 0 14.667 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 14.668 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.669 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 14.669 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.670 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.671 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 14.671 * [backup-simplify]: Simplify (+ 0 0) into 0 14.672 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 14.672 * [backup-simplify]: Simplify (- 0) into 0 14.673 * [backup-simplify]: Simplify (+ 0 0) into 0 14.673 * [taylor]: Taking taylor expansion of 0 in phi1 14.673 * [backup-simplify]: Simplify 0 into 0 14.673 * [backup-simplify]: Simplify 0 into 0 14.673 * [backup-simplify]: Simplify 0 into 0 14.674 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.675 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 14.675 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.676 * [backup-simplify]: Simplify (- 0) into 0 14.677 * [backup-simplify]: Simplify (+ 0 0) into 0 14.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 14.678 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 14.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 14.679 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 14.680 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 14.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 14.681 * [backup-simplify]: Simplify (+ 0 0) into 0 14.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 14.682 * [backup-simplify]: Simplify (- 0) into 0 14.682 * [backup-simplify]: Simplify (+ 0 0) into 0 14.682 * [backup-simplify]: Simplify 0 into 0 14.683 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 14.684 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 14.684 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.686 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 14.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 14.687 * [backup-simplify]: Simplify (- 0) into 0 14.688 * [backup-simplify]: Simplify (+ 0 0) into 0 14.689 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0 14.690 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 14.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 14.691 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 14.692 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 14.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 14.694 * [backup-simplify]: Simplify (+ 0 0) into 0 14.694 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0 14.695 * [backup-simplify]: Simplify (- 0) into 0 14.695 * [backup-simplify]: Simplify (+ 0 0) into 0 14.695 * [taylor]: Taking taylor expansion of 0 in phi1 14.695 * [backup-simplify]: Simplify 0 into 0 14.695 * [backup-simplify]: Simplify 0 into 0 14.696 * [backup-simplify]: Simplify (- (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1)))))) into (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.696 * * * * [progress]: [ 4 / 4 ] generating series at (2) 14.697 * [backup-simplify]: Simplify (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R) into (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) R) 14.697 * [approximate]: Taking taylor expansion of (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) R) in (lambda1 lambda2 phi2 phi1 R) around 0 14.697 * [taylor]: Taking taylor expansion of (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) R) in R 14.697 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) in R 14.697 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2)))) 14.697 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2))) in R 14.697 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) in R 14.697 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in R 14.697 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in R 14.697 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in R 14.697 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in R 14.697 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R 14.697 * [taylor]: Taking taylor expansion of 0.5 in R 14.697 * [backup-simplify]: Simplify 0.5 into 0.5 14.697 * [taylor]: Taking taylor expansion of phi2 in R 14.697 * [backup-simplify]: Simplify phi2 into phi2 14.697 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.698 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.698 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.698 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in R 14.698 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R 14.698 * [taylor]: Taking taylor expansion of 0.5 in R 14.698 * [backup-simplify]: Simplify 0.5 into 0.5 14.698 * [taylor]: Taking taylor expansion of phi1 in R 14.698 * [backup-simplify]: Simplify phi1 into phi1 14.698 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.698 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.698 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.698 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in R 14.698 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in R 14.698 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R 14.698 * [taylor]: Taking taylor expansion of 0.5 in R 14.698 * [backup-simplify]: Simplify 0.5 into 0.5 14.698 * [taylor]: Taking taylor expansion of phi2 in R 14.698 * [backup-simplify]: Simplify phi2 into phi2 14.698 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.698 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.699 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.699 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in R 14.699 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R 14.699 * [taylor]: Taking taylor expansion of 0.5 in R 14.699 * [backup-simplify]: Simplify 0.5 into 0.5 14.699 * [taylor]: Taking taylor expansion of phi1 in R 14.699 * [backup-simplify]: Simplify phi1 into phi1 14.699 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.699 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.699 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.699 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R 14.699 * [taylor]: Taking taylor expansion of lambda1 in R 14.699 * [backup-simplify]: Simplify lambda1 into lambda1 14.699 * [taylor]: Taking taylor expansion of lambda2 in R 14.699 * [backup-simplify]: Simplify lambda2 into lambda2 14.699 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in R 14.699 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in R 14.699 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in R 14.699 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in R 14.699 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R 14.699 * [taylor]: Taking taylor expansion of 0.5 in R 14.700 * [backup-simplify]: Simplify 0.5 into 0.5 14.700 * [taylor]: Taking taylor expansion of phi2 in R 14.700 * [backup-simplify]: Simplify phi2 into phi2 14.700 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.700 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.700 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.700 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in R 14.700 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R 14.700 * [taylor]: Taking taylor expansion of 0.5 in R 14.700 * [backup-simplify]: Simplify 0.5 into 0.5 14.700 * [taylor]: Taking taylor expansion of phi1 in R 14.700 * [backup-simplify]: Simplify phi1 into phi1 14.700 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.700 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.700 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.700 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in R 14.700 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in R 14.700 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in R 14.700 * [taylor]: Taking taylor expansion of 0.5 in R 14.700 * [backup-simplify]: Simplify 0.5 into 0.5 14.700 * [taylor]: Taking taylor expansion of phi2 in R 14.700 * [backup-simplify]: Simplify phi2 into phi2 14.701 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.701 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.701 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.701 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in R 14.701 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in R 14.701 * [taylor]: Taking taylor expansion of 0.5 in R 14.701 * [backup-simplify]: Simplify 0.5 into 0.5 14.701 * [taylor]: Taking taylor expansion of phi1 in R 14.701 * [backup-simplify]: Simplify phi1 into phi1 14.701 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.701 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.701 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.701 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in R 14.701 * [taylor]: Taking taylor expansion of lambda1 in R 14.701 * [backup-simplify]: Simplify lambda1 into lambda1 14.701 * [taylor]: Taking taylor expansion of lambda2 in R 14.701 * [backup-simplify]: Simplify lambda2 into lambda2 14.701 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in R 14.701 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R 14.701 * [taylor]: Taking taylor expansion of phi1 in R 14.701 * [backup-simplify]: Simplify phi1 into phi1 14.701 * [taylor]: Taking taylor expansion of phi2 in R 14.701 * [backup-simplify]: Simplify phi2 into phi2 14.701 * [taylor]: Taking taylor expansion of (- phi1 phi2) in R 14.701 * [taylor]: Taking taylor expansion of phi1 in R 14.701 * [backup-simplify]: Simplify phi1 into phi1 14.701 * [taylor]: Taking taylor expansion of phi2 in R 14.702 * [backup-simplify]: Simplify phi2 into phi2 14.702 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.702 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.702 * [backup-simplify]: Simplify (- 0) into 0 14.702 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.702 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.703 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.703 * [backup-simplify]: Simplify (- 0) into 0 14.703 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.703 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 14.703 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.703 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.704 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.704 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.704 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.704 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.704 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.704 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.705 * [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)))) 14.705 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 14.705 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 14.705 * [backup-simplify]: Simplify (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) into (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) 14.705 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.705 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.706 * [backup-simplify]: Simplify (- 0) into 0 14.706 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.706 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.706 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.707 * [backup-simplify]: Simplify (- 0) into 0 14.707 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.707 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 14.707 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.707 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.707 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.707 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.707 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.707 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.708 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.708 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.708 * [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)))) 14.708 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 14.708 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 14.709 * [backup-simplify]: Simplify (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) into (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) 14.710 * [backup-simplify]: Simplify (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) into (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (pow (- lambda1 lambda2) 2)) 14.710 * [backup-simplify]: Simplify (- phi2) into (- phi2) 14.710 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 14.710 * [backup-simplify]: Simplify (- phi2) into (- phi2) 14.710 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 14.710 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 14.712 * [backup-simplify]: Simplify (+ (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (pow (- lambda1 lambda2) 2)) (pow (- phi1 phi2) 2)) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (+ (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 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) lambda1))))))))) 14.723 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (+ (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 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) lambda1)))))))))) into (sqrt (- (+ (* (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 phi2 2) (+ (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (+ (pow phi1 2) (+ (* (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))))))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) (+ (* 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 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) lambda1)))))))))) 14.728 * [backup-simplify]: Simplify (- 0) into 0 14.728 * [backup-simplify]: Simplify (+ 0 0) into 0 14.729 * [backup-simplify]: Simplify (+ 0) into 0 14.729 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.730 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.731 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.731 * [backup-simplify]: Simplify (- 0) into 0 14.732 * [backup-simplify]: Simplify (+ 0 0) into 0 14.732 * [backup-simplify]: Simplify (+ 0) into 0 14.733 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.733 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.734 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.735 * [backup-simplify]: Simplify (- 0) into 0 14.735 * [backup-simplify]: Simplify (+ 0 0) into 0 14.735 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.736 * [backup-simplify]: Simplify (+ 0) into 0 14.736 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.737 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.738 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.738 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.738 * [backup-simplify]: Simplify (+ 0 0) into 0 14.739 * [backup-simplify]: Simplify (+ 0) into 0 14.739 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.740 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.741 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.741 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.742 * [backup-simplify]: Simplify (+ 0 0) into 0 14.742 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.742 * [backup-simplify]: Simplify (- 0) into 0 14.742 * [backup-simplify]: Simplify (+ 0 0) into 0 14.743 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 0) (* 0 (- lambda1 lambda2))) into 0 14.743 * [backup-simplify]: Simplify (- 0) into 0 14.744 * [backup-simplify]: Simplify (+ 0 0) into 0 14.744 * [backup-simplify]: Simplify (+ 0) into 0 14.744 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.745 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.745 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.746 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.746 * [backup-simplify]: Simplify (- 0) into 0 14.746 * [backup-simplify]: Simplify (+ 0 0) into 0 14.746 * [backup-simplify]: Simplify (+ 0) into 0 14.747 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.747 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.748 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.748 * [backup-simplify]: Simplify (- 0) into 0 14.748 * [backup-simplify]: Simplify (+ 0 0) into 0 14.749 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.749 * [backup-simplify]: Simplify (+ 0) into 0 14.749 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.749 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.750 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.750 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.750 * [backup-simplify]: Simplify (+ 0 0) into 0 14.751 * [backup-simplify]: Simplify (+ 0) into 0 14.751 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.752 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.752 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.752 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.753 * [backup-simplify]: Simplify (+ 0 0) into 0 14.753 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.753 * [backup-simplify]: Simplify (- 0) into 0 14.753 * [backup-simplify]: Simplify (+ 0 0) into 0 14.753 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 0) (* 0 (- lambda1 lambda2))) into 0 14.754 * [backup-simplify]: Simplify (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) 0) (* 0 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)))) into 0 14.754 * [backup-simplify]: Simplify (- 0) into 0 14.754 * [backup-simplify]: Simplify (+ 0 0) into 0 14.755 * [backup-simplify]: Simplify (- 0) into 0 14.755 * [backup-simplify]: Simplify (+ 0 0) into 0 14.755 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 14.755 * [backup-simplify]: Simplify (+ 0 0) into 0 14.761 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (+ (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 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) lambda1)))))))))))) into 0 14.761 * [taylor]: Taking taylor expansion of R in R 14.761 * [backup-simplify]: Simplify 0 into 0 14.761 * [backup-simplify]: Simplify 1 into 1 14.761 * [taylor]: Taking taylor expansion of (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) R) in phi1 14.761 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) in phi1 14.762 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2)))) 14.762 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2))) in phi1 14.762 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) in phi1 14.762 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in phi1 14.762 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi1 14.762 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi1 14.762 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 14.762 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.762 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.762 * [backup-simplify]: Simplify 0.5 into 0.5 14.762 * [taylor]: Taking taylor expansion of phi2 in phi1 14.762 * [backup-simplify]: Simplify phi2 into phi2 14.762 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.762 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.762 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.762 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 14.762 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.762 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.762 * [backup-simplify]: Simplify 0.5 into 0.5 14.762 * [taylor]: Taking taylor expansion of phi1 in phi1 14.762 * [backup-simplify]: Simplify 0 into 0 14.762 * [backup-simplify]: Simplify 1 into 1 14.762 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.763 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.763 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi1 14.763 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 14.763 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 14.763 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.764 * [backup-simplify]: Simplify 0.5 into 0.5 14.764 * [taylor]: Taking taylor expansion of phi2 in phi1 14.764 * [backup-simplify]: Simplify phi2 into phi2 14.764 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.764 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.764 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.764 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 14.764 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 14.764 * [taylor]: Taking taylor expansion of 0.5 in phi1 14.764 * [backup-simplify]: Simplify 0.5 into 0.5 14.764 * [taylor]: Taking taylor expansion of phi1 in phi1 14.764 * [backup-simplify]: Simplify 0 into 0 14.764 * [backup-simplify]: Simplify 1 into 1 14.764 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.765 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.765 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 14.765 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.765 * [backup-simplify]: Simplify lambda1 into lambda1 14.765 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.765 * [backup-simplify]: Simplify lambda2 into lambda2 14.765 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in phi1 14.765 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi1 14.765 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi1 14.765 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 14.765 * [taylor]: Taking taylor expansion of (* 0.5 phi2) 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 phi2 in phi1 14.765 * [backup-simplify]: Simplify phi2 into phi2 14.765 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.765 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.765 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 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 14.766 * [backup-simplify]: Simplify 0 into 0 14.766 * [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 phi2)) (sin (* 0.5 phi1))) in phi1 14.767 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 14.767 * [taylor]: Taking taylor expansion of (* 0.5 phi2) 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 phi2 in phi1 14.767 * [backup-simplify]: Simplify phi2 into phi2 14.767 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.767 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.767 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 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 14.767 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.768 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.768 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 14.768 * [taylor]: Taking taylor expansion of lambda1 in phi1 14.768 * [backup-simplify]: Simplify lambda1 into lambda1 14.768 * [taylor]: Taking taylor expansion of lambda2 in phi1 14.769 * [backup-simplify]: Simplify lambda2 into lambda2 14.769 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi1 14.769 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1 14.769 * [taylor]: Taking taylor expansion of phi1 in phi1 14.769 * [backup-simplify]: Simplify 0 into 0 14.769 * [backup-simplify]: Simplify 1 into 1 14.769 * [taylor]: Taking taylor expansion of phi2 in phi1 14.769 * [backup-simplify]: Simplify phi2 into phi2 14.769 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi1 14.769 * [taylor]: Taking taylor expansion of phi1 in phi1 14.769 * [backup-simplify]: Simplify 0 into 0 14.769 * [backup-simplify]: Simplify 1 into 1 14.769 * [taylor]: Taking taylor expansion of phi2 in phi1 14.769 * [backup-simplify]: Simplify phi2 into phi2 14.769 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.769 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.769 * [backup-simplify]: Simplify (- 0) into 0 14.769 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.769 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.769 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.769 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.770 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.770 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.770 * [backup-simplify]: Simplify (- 0) into 0 14.770 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.770 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 14.770 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 14.770 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) into (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) 14.770 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.770 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.771 * [backup-simplify]: Simplify (- 0) into 0 14.771 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.771 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.771 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.771 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.771 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.771 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.771 * [backup-simplify]: Simplify (- 0) into 0 14.771 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.771 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 14.771 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 14.771 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) into (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) 14.772 * [backup-simplify]: Simplify (* (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) (* (cos (* 0.5 phi2)) (- lambda1 lambda2))) into (* (pow (cos (* 0.5 phi2)) 2) (pow (- lambda1 lambda2) 2)) 14.772 * [backup-simplify]: Simplify (- phi2) into (- phi2) 14.772 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2) 14.772 * [backup-simplify]: Simplify (- phi2) into (- phi2) 14.772 * [backup-simplify]: Simplify (+ 0 (- phi2)) into (- phi2) 14.772 * [backup-simplify]: Simplify (* (- phi2) (- phi2)) into (pow phi2 2) 14.772 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (- lambda1 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))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) 14.773 * [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))))) 14.773 * [backup-simplify]: Simplify (- 0) into 0 14.773 * [backup-simplify]: Simplify (+ 0 0) into 0 14.774 * [backup-simplify]: Simplify (+ 0) into 0 14.774 * [backup-simplify]: Simplify (+ 0) into 0 14.774 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.775 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.775 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.776 * [backup-simplify]: Simplify (- 0) into 0 14.776 * [backup-simplify]: Simplify (+ 0 0) into 0 14.776 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.779 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.779 * [backup-simplify]: Simplify (+ 0) into 0 14.780 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.780 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.781 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.782 * [backup-simplify]: Simplify (+ 0 0) into 0 14.782 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 14.782 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 14.783 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 14.783 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* (- (* 0.5 (sin (* 0.5 phi2)))) (- lambda1 lambda2))) into (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) 14.783 * [backup-simplify]: Simplify (- 0) into 0 14.784 * [backup-simplify]: Simplify (+ 0 0) into 0 14.784 * [backup-simplify]: Simplify (+ 0) into 0 14.784 * [backup-simplify]: Simplify (+ 0) into 0 14.785 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.785 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.786 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.787 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.787 * [backup-simplify]: Simplify (- 0) into 0 14.787 * [backup-simplify]: Simplify (+ 0 0) into 0 14.788 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.791 * [backup-simplify]: Simplify (+ 0) into 0 14.791 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.792 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.792 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.793 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.793 * [backup-simplify]: Simplify (+ 0 0) into 0 14.794 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 14.794 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 14.794 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 14.794 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* (- (* 0.5 (sin (* 0.5 phi2)))) (- lambda1 lambda2))) into (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) 14.795 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 phi2)) (- lambda1 lambda2)) (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1)))) (* (- (* 0.5 (* (sin (* 0.5 phi2)) lambda2)) (* 0.5 (* (sin (* 0.5 phi2)) lambda1))) (* (cos (* 0.5 phi2)) (- lambda1 lambda2)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) 14.796 * [backup-simplify]: Simplify (- 0) into 0 14.796 * [backup-simplify]: Simplify (+ 1 0) into 1 14.797 * [backup-simplify]: Simplify (- 0) into 0 14.797 * [backup-simplify]: Simplify (+ 1 0) into 1 14.797 * [backup-simplify]: Simplify (+ (* (- phi2) 1) (* 1 (- phi2))) into (- (* 2 phi2)) 14.799 * [backup-simplify]: Simplify (+ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2 phi2))) 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))))))) 14.801 * [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)))))))) 14.802 * [taylor]: Taking taylor expansion of R in phi1 14.802 * [backup-simplify]: Simplify R into R 14.802 * [taylor]: Taking taylor expansion of (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) R) in phi2 14.802 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) in phi2 14.802 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2)))) 14.802 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2))) in phi2 14.802 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) in phi2 14.802 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in phi2 14.802 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi2 14.802 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi2 14.802 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.802 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.802 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.802 * [backup-simplify]: Simplify 0.5 into 0.5 14.802 * [taylor]: Taking taylor expansion of phi2 in phi2 14.802 * [backup-simplify]: Simplify 0 into 0 14.802 * [backup-simplify]: Simplify 1 into 1 14.803 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.804 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.804 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.804 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.804 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.804 * [backup-simplify]: Simplify 0.5 into 0.5 14.804 * [taylor]: Taking taylor expansion of phi1 in phi2 14.804 * [backup-simplify]: Simplify phi1 into phi1 14.804 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.804 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.804 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.804 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 14.805 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.805 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.805 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.805 * [backup-simplify]: Simplify 0.5 into 0.5 14.805 * [taylor]: Taking taylor expansion of phi2 in phi2 14.805 * [backup-simplify]: Simplify 0 into 0 14.805 * [backup-simplify]: Simplify 1 into 1 14.805 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.806 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.806 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.806 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.806 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.806 * [backup-simplify]: Simplify 0.5 into 0.5 14.806 * [taylor]: Taking taylor expansion of phi1 in phi2 14.806 * [backup-simplify]: Simplify phi1 into phi1 14.806 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.806 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.806 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.806 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 14.806 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.806 * [backup-simplify]: Simplify lambda1 into lambda1 14.806 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.806 * [backup-simplify]: Simplify lambda2 into lambda2 14.806 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in phi2 14.806 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in phi2 14.806 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi2 14.806 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 14.806 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.806 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.806 * [backup-simplify]: Simplify 0.5 into 0.5 14.806 * [taylor]: Taking taylor expansion of phi2 in phi2 14.806 * [backup-simplify]: Simplify 0 into 0 14.806 * [backup-simplify]: Simplify 1 into 1 14.807 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.808 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.808 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 14.808 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.808 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.808 * [backup-simplify]: Simplify 0.5 into 0.5 14.808 * [taylor]: Taking taylor expansion of phi1 in phi2 14.808 * [backup-simplify]: Simplify phi1 into phi1 14.808 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.808 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.808 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.808 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 14.808 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 14.808 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 14.808 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.808 * [backup-simplify]: Simplify 0.5 into 0.5 14.808 * [taylor]: Taking taylor expansion of phi2 in phi2 14.808 * [backup-simplify]: Simplify 0 into 0 14.808 * [backup-simplify]: Simplify 1 into 1 14.808 * [backup-simplify]: Simplify (* 0.5 0) into 0 14.810 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 14.810 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 14.810 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 14.810 * [taylor]: Taking taylor expansion of 0.5 in phi2 14.810 * [backup-simplify]: Simplify 0.5 into 0.5 14.810 * [taylor]: Taking taylor expansion of phi1 in phi2 14.810 * [backup-simplify]: Simplify phi1 into phi1 14.810 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.810 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.810 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.810 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 14.810 * [taylor]: Taking taylor expansion of lambda1 in phi2 14.810 * [backup-simplify]: Simplify lambda1 into lambda1 14.810 * [taylor]: Taking taylor expansion of lambda2 in phi2 14.810 * [backup-simplify]: Simplify lambda2 into lambda2 14.810 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in phi2 14.810 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2 14.810 * [taylor]: Taking taylor expansion of phi1 in phi2 14.810 * [backup-simplify]: Simplify phi1 into phi1 14.810 * [taylor]: Taking taylor expansion of phi2 in phi2 14.810 * [backup-simplify]: Simplify 0 into 0 14.810 * [backup-simplify]: Simplify 1 into 1 14.810 * [taylor]: Taking taylor expansion of (- phi1 phi2) in phi2 14.810 * [taylor]: Taking taylor expansion of phi1 in phi2 14.810 * [backup-simplify]: Simplify phi1 into phi1 14.810 * [taylor]: Taking taylor expansion of phi2 in phi2 14.811 * [backup-simplify]: Simplify 0 into 0 14.811 * [backup-simplify]: Simplify 1 into 1 14.811 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.811 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.811 * [backup-simplify]: Simplify (- 0) into 0 14.811 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.811 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi1))) into (cos (* 0.5 phi1)) 14.811 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.812 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.812 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.812 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi1))) into 0 14.812 * [backup-simplify]: Simplify (- 0) into 0 14.812 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.813 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 14.813 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 14.813 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) into (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) 14.813 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.813 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.813 * [backup-simplify]: Simplify (- 0) into 0 14.814 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.814 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi1))) into (cos (* 0.5 phi1)) 14.814 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.814 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.814 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.814 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi1))) into 0 14.815 * [backup-simplify]: Simplify (- 0) into 0 14.815 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.815 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 14.815 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 14.815 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) into (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) 14.815 * [backup-simplify]: Simplify (* (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) (* (cos (* 0.5 phi1)) (- lambda1 lambda2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow (- lambda1 lambda2) 2)) 14.816 * [backup-simplify]: Simplify (- 0) into 0 14.816 * [backup-simplify]: Simplify (+ phi1 0) into phi1 14.816 * [backup-simplify]: Simplify (- 0) into 0 14.816 * [backup-simplify]: Simplify (+ phi1 0) into phi1 14.816 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 14.817 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow (- lambda1 lambda2) 2)) (pow phi1 2)) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) 14.818 * [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))))) 14.819 * [backup-simplify]: Simplify (- 0) into 0 14.819 * [backup-simplify]: Simplify (+ 0 0) into 0 14.819 * [backup-simplify]: Simplify (+ 0) into 0 14.820 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.820 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.822 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.822 * [backup-simplify]: Simplify (- 0) into 0 14.822 * [backup-simplify]: Simplify (+ 0 0) into 0 14.823 * [backup-simplify]: Simplify (+ 0) into 0 14.823 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.824 * [backup-simplify]: Simplify (+ 0) into 0 14.824 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.825 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.826 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.826 * [backup-simplify]: Simplify (+ 0 0) into 0 14.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.829 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi1)))) into (* 0.5 (sin (* 0.5 phi1))) 14.829 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.830 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.830 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* (- (* 0.5 (sin (* 0.5 phi1)))) (- lambda1 lambda2))) into (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) 14.830 * [backup-simplify]: Simplify (- 0) into 0 14.831 * [backup-simplify]: Simplify (+ 0 0) into 0 14.831 * [backup-simplify]: Simplify (+ 0) into 0 14.831 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.832 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.833 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.834 * [backup-simplify]: Simplify (- 0) into 0 14.834 * [backup-simplify]: Simplify (+ 0 0) into 0 14.834 * [backup-simplify]: Simplify (+ 0) into 0 14.835 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.835 * [backup-simplify]: Simplify (+ 0) into 0 14.836 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.836 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.837 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.837 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.838 * [backup-simplify]: Simplify (+ 0 0) into 0 14.840 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 14.841 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi1)))) into (* 0.5 (sin (* 0.5 phi1))) 14.841 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.841 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 14.841 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* (- (* 0.5 (sin (* 0.5 phi1)))) (- lambda1 lambda2))) into (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) 14.843 * [backup-simplify]: Simplify (+ (* (* (cos (* 0.5 phi1)) (- lambda1 lambda2)) (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1)))) (* (- (* 0.5 (* (sin (* 0.5 phi1)) lambda2)) (* 0.5 (* (sin (* 0.5 phi1)) lambda1))) (* (cos (* 0.5 phi1)) (- lambda1 lambda2)))) 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)))))) 14.843 * [backup-simplify]: Simplify (- 1) into -1 14.844 * [backup-simplify]: Simplify (+ 0 -1) into -1 14.844 * [backup-simplify]: Simplify (- 1) into -1 14.844 * [backup-simplify]: Simplify (+ 0 -1) into -1 14.845 * [backup-simplify]: Simplify (+ (* phi1 -1) (* -1 phi1)) into (- (* 2 phi1)) 14.846 * [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))) 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)))) 14.849 * [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)))))))) 14.849 * [taylor]: Taking taylor expansion of R in phi2 14.849 * [backup-simplify]: Simplify R into R 14.849 * [taylor]: Taking taylor expansion of (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) R) in lambda2 14.849 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) in lambda2 14.849 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2)))) 14.849 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2))) in lambda2 14.849 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) in lambda2 14.849 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in lambda2 14.849 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2 14.849 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2 14.850 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 14.850 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.850 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.850 * [backup-simplify]: Simplify 0.5 into 0.5 14.850 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.850 * [backup-simplify]: Simplify phi2 into phi2 14.850 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.850 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.850 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.850 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 14.850 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.850 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.850 * [backup-simplify]: Simplify 0.5 into 0.5 14.850 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.850 * [backup-simplify]: Simplify phi1 into phi1 14.850 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.850 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.850 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.850 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2 14.850 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 14.850 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.850 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.850 * [backup-simplify]: Simplify 0.5 into 0.5 14.850 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.851 * [backup-simplify]: Simplify phi2 into phi2 14.851 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.851 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.851 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.851 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 14.851 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.851 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.851 * [backup-simplify]: Simplify 0.5 into 0.5 14.851 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.851 * [backup-simplify]: Simplify phi1 into phi1 14.851 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.851 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.851 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.851 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 14.851 * [taylor]: Taking taylor expansion of lambda1 in lambda2 14.851 * [backup-simplify]: Simplify lambda1 into lambda1 14.851 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.851 * [backup-simplify]: Simplify 0 into 0 14.851 * [backup-simplify]: Simplify 1 into 1 14.851 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in lambda2 14.851 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda2 14.851 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda2 14.851 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 14.851 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.852 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.852 * [backup-simplify]: Simplify 0.5 into 0.5 14.852 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.852 * [backup-simplify]: Simplify phi2 into phi2 14.852 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.852 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.852 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.852 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 14.852 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.852 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.852 * [backup-simplify]: Simplify 0.5 into 0.5 14.852 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.852 * [backup-simplify]: Simplify phi1 into phi1 14.852 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.852 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.852 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.852 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda2 14.852 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 14.852 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 14.852 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.852 * [backup-simplify]: Simplify 0.5 into 0.5 14.852 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.852 * [backup-simplify]: Simplify phi2 into phi2 14.852 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.853 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.853 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.853 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 14.853 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 14.853 * [taylor]: Taking taylor expansion of 0.5 in lambda2 14.853 * [backup-simplify]: Simplify 0.5 into 0.5 14.853 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.853 * [backup-simplify]: Simplify phi1 into phi1 14.853 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.853 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.853 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.853 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 14.853 * [taylor]: Taking taylor expansion of lambda1 in lambda2 14.853 * [backup-simplify]: Simplify lambda1 into lambda1 14.853 * [taylor]: Taking taylor expansion of lambda2 in lambda2 14.853 * [backup-simplify]: Simplify 0 into 0 14.853 * [backup-simplify]: Simplify 1 into 1 14.853 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda2 14.853 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2 14.853 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.853 * [backup-simplify]: Simplify phi1 into phi1 14.853 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.853 * [backup-simplify]: Simplify phi2 into phi2 14.853 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda2 14.853 * [taylor]: Taking taylor expansion of phi1 in lambda2 14.854 * [backup-simplify]: Simplify phi1 into phi1 14.854 * [taylor]: Taking taylor expansion of phi2 in lambda2 14.854 * [backup-simplify]: Simplify phi2 into phi2 14.854 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.854 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.854 * [backup-simplify]: Simplify (- 0) into 0 14.854 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.855 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.855 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.855 * [backup-simplify]: Simplify (- 0) into 0 14.855 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.855 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 14.856 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.856 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.856 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.856 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.856 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.856 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.856 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.856 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.857 * [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)))) 14.857 * [backup-simplify]: Simplify (- 0) into 0 14.857 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 14.858 * [backup-simplify]: Simplify (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda1) into (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda1) 14.858 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.858 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.858 * [backup-simplify]: Simplify (- 0) into 0 14.859 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.859 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.859 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.859 * [backup-simplify]: Simplify (- 0) into 0 14.859 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.860 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 14.860 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.860 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.860 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.860 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.860 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.860 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.860 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.861 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.861 * [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)))) 14.866 * [backup-simplify]: Simplify (- 0) into 0 14.866 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 14.866 * [backup-simplify]: Simplify (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda1) into (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda1) 14.867 * [backup-simplify]: Simplify (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda1) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda1)) into (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (pow lambda1 2)) 14.867 * [backup-simplify]: Simplify (- phi2) into (- phi2) 14.867 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 14.867 * [backup-simplify]: Simplify (- phi2) into (- phi2) 14.867 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 14.868 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 14.869 * [backup-simplify]: Simplify (+ (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (pow lambda1 2)) (pow (- phi1 phi2) 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)))))))) 14.872 * [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))))))))) 14.873 * [backup-simplify]: Simplify (- 1) into -1 14.873 * [backup-simplify]: Simplify (+ 0 -1) into -1 14.874 * [backup-simplify]: Simplify (+ 0) into 0 14.874 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.875 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.876 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.877 * [backup-simplify]: Simplify (- 0) into 0 14.877 * [backup-simplify]: Simplify (+ 0 0) into 0 14.878 * [backup-simplify]: Simplify (+ 0) into 0 14.878 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.879 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.880 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.880 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.880 * [backup-simplify]: Simplify (- 0) into 0 14.881 * [backup-simplify]: Simplify (+ 0 0) into 0 14.881 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.881 * [backup-simplify]: Simplify (+ 0) into 0 14.882 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.882 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.883 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.884 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.884 * [backup-simplify]: Simplify (+ 0 0) into 0 14.884 * [backup-simplify]: Simplify (+ 0) into 0 14.885 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.885 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.886 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.887 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.887 * [backup-simplify]: Simplify (+ 0 0) into 0 14.887 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.888 * [backup-simplify]: Simplify (- 0) into 0 14.888 * [backup-simplify]: Simplify (+ 0 0) into 0 14.888 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) -1) (* 0 lambda1)) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))) 14.889 * [backup-simplify]: Simplify (- 1) into -1 14.889 * [backup-simplify]: Simplify (+ 0 -1) into -1 14.890 * [backup-simplify]: Simplify (+ 0) into 0 14.890 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.891 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.891 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.892 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.892 * [backup-simplify]: Simplify (- 0) into 0 14.893 * [backup-simplify]: Simplify (+ 0 0) into 0 14.893 * [backup-simplify]: Simplify (+ 0) into 0 14.894 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.894 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.895 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.896 * [backup-simplify]: Simplify (- 0) into 0 14.896 * [backup-simplify]: Simplify (+ 0 0) into 0 14.897 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.897 * [backup-simplify]: Simplify (+ 0) into 0 14.898 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.898 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.899 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.899 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.900 * [backup-simplify]: Simplify (+ 0 0) into 0 14.900 * [backup-simplify]: Simplify (+ 0) into 0 14.900 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.901 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.902 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.903 * [backup-simplify]: Simplify (+ 0 0) into 0 14.903 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.903 * [backup-simplify]: Simplify (- 0) into 0 14.903 * [backup-simplify]: Simplify (+ 0 0) into 0 14.904 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) -1) (* 0 lambda1)) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))) 14.906 * [backup-simplify]: Simplify (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda1) (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))))) (* (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda1))) into (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda1))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) lambda1))))) 14.906 * [backup-simplify]: Simplify (- 0) into 0 14.907 * [backup-simplify]: Simplify (+ 0 0) into 0 14.907 * [backup-simplify]: Simplify (- 0) into 0 14.907 * [backup-simplify]: Simplify (+ 0 0) into 0 14.908 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 14.910 * [backup-simplify]: Simplify (+ (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda1))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) lambda1))))) 0) into (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda1))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) lambda1))))) 14.915 * [backup-simplify]: Simplify (/ (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda1))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 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 (* 1/2 (* (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda1))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 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)))))))))))) 14.915 * [taylor]: Taking taylor expansion of R in lambda2 14.915 * [backup-simplify]: Simplify R into R 14.915 * [taylor]: Taking taylor expansion of (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) R) in lambda1 14.915 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) in lambda1 14.915 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2)))) 14.915 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1 14.915 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) in lambda1 14.915 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in lambda1 14.916 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda1 14.916 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda1 14.916 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 14.916 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.916 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.916 * [backup-simplify]: Simplify 0.5 into 0.5 14.916 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.916 * [backup-simplify]: Simplify phi2 into phi2 14.916 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.916 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.916 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.916 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 14.916 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.916 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.916 * [backup-simplify]: Simplify 0.5 into 0.5 14.916 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.916 * [backup-simplify]: Simplify phi1 into phi1 14.916 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.916 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.916 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.916 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda1 14.916 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 14.916 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.916 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.917 * [backup-simplify]: Simplify 0.5 into 0.5 14.917 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.917 * [backup-simplify]: Simplify phi2 into phi2 14.917 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.917 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.917 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.917 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 14.917 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.917 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.917 * [backup-simplify]: Simplify 0.5 into 0.5 14.917 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.917 * [backup-simplify]: Simplify phi1 into phi1 14.917 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.917 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.917 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.917 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 14.917 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.917 * [backup-simplify]: Simplify 0 into 0 14.917 * [backup-simplify]: Simplify 1 into 1 14.917 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.917 * [backup-simplify]: Simplify lambda2 into lambda2 14.917 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in lambda1 14.917 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda1 14.918 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda1 14.918 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 14.918 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.918 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.918 * [backup-simplify]: Simplify 0.5 into 0.5 14.918 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.918 * [backup-simplify]: Simplify phi2 into phi2 14.918 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.918 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.918 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.918 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 14.918 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.918 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.918 * [backup-simplify]: Simplify 0.5 into 0.5 14.918 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.918 * [backup-simplify]: Simplify phi1 into phi1 14.918 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.918 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.918 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.918 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda1 14.918 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 14.918 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.918 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.918 * [backup-simplify]: Simplify 0.5 into 0.5 14.918 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.919 * [backup-simplify]: Simplify phi2 into phi2 14.919 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.919 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.919 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.919 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 14.919 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.919 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.919 * [backup-simplify]: Simplify 0.5 into 0.5 14.919 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.919 * [backup-simplify]: Simplify phi1 into phi1 14.919 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.919 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.919 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.919 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 14.919 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.919 * [backup-simplify]: Simplify 0 into 0 14.919 * [backup-simplify]: Simplify 1 into 1 14.919 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.919 * [backup-simplify]: Simplify lambda2 into lambda2 14.919 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1 14.919 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 14.919 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.919 * [backup-simplify]: Simplify phi1 into phi1 14.919 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.919 * [backup-simplify]: Simplify phi2 into phi2 14.919 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 14.919 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.920 * [backup-simplify]: Simplify phi1 into phi1 14.920 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.920 * [backup-simplify]: Simplify phi2 into phi2 14.920 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.920 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.920 * [backup-simplify]: Simplify (- 0) into 0 14.920 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.921 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.921 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.921 * [backup-simplify]: Simplify (- 0) into 0 14.921 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.921 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 14.921 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.922 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.922 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.922 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.922 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.922 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.922 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.923 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.923 * [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)))) 14.923 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 14.923 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 14.923 * [backup-simplify]: Simplify (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda2)) into (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)) 14.924 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.924 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.924 * [backup-simplify]: Simplify (- 0) into 0 14.924 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.924 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.924 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.925 * [backup-simplify]: Simplify (- 0) into 0 14.925 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.925 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 14.925 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.925 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.925 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.925 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.925 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.925 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.925 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.925 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.925 * [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)))) 14.925 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 14.925 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 14.926 * [backup-simplify]: Simplify (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda2)) into (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)) 14.926 * [backup-simplify]: Simplify (* (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)) (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2))) into (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (pow lambda2 2)) 14.926 * [backup-simplify]: Simplify (- phi2) into (- phi2) 14.926 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 14.926 * [backup-simplify]: Simplify (- phi2) into (- phi2) 14.926 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 14.926 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 14.927 * [backup-simplify]: Simplify (+ (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (pow lambda2 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) 14.929 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) 14.929 * [backup-simplify]: Simplify (- 0) into 0 14.929 * [backup-simplify]: Simplify (+ 1 0) into 1 14.930 * [backup-simplify]: Simplify (+ 0) into 0 14.930 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.930 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.931 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.931 * [backup-simplify]: Simplify (- 0) into 0 14.931 * [backup-simplify]: Simplify (+ 0 0) into 0 14.932 * [backup-simplify]: Simplify (+ 0) into 0 14.932 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.932 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.933 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.933 * [backup-simplify]: Simplify (- 0) into 0 14.934 * [backup-simplify]: Simplify (+ 0 0) into 0 14.934 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.934 * [backup-simplify]: Simplify (+ 0) into 0 14.934 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.935 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.935 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.935 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.936 * [backup-simplify]: Simplify (+ 0 0) into 0 14.936 * [backup-simplify]: Simplify (+ 0) into 0 14.936 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.937 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.937 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.938 * [backup-simplify]: Simplify (+ 0 0) into 0 14.938 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.938 * [backup-simplify]: Simplify (- 0) into 0 14.938 * [backup-simplify]: Simplify (+ 0 0) into 0 14.938 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 1) (* 0 (- lambda2))) into (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.939 * [backup-simplify]: Simplify (- 0) into 0 14.939 * [backup-simplify]: Simplify (+ 1 0) into 1 14.939 * [backup-simplify]: Simplify (+ 0) into 0 14.940 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.940 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.941 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.941 * [backup-simplify]: Simplify (- 0) into 0 14.941 * [backup-simplify]: Simplify (+ 0 0) into 0 14.941 * [backup-simplify]: Simplify (+ 0) into 0 14.942 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.942 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.943 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.943 * [backup-simplify]: Simplify (- 0) into 0 14.943 * [backup-simplify]: Simplify (+ 0 0) into 0 14.943 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.944 * [backup-simplify]: Simplify (+ 0) into 0 14.944 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.944 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.945 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.945 * [backup-simplify]: Simplify (+ 0 0) into 0 14.946 * [backup-simplify]: Simplify (+ 0) into 0 14.946 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.946 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.947 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.947 * [backup-simplify]: Simplify (+ 0 0) into 0 14.948 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.948 * [backup-simplify]: Simplify (- 0) into 0 14.948 * [backup-simplify]: Simplify (+ 0 0) into 0 14.948 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 1) (* 0 (- lambda2))) into (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.949 * [backup-simplify]: Simplify (+ (* (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)) (- (* (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)))) (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)))) into (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda2))))) (+ (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (pow (sin (* 0.5 phi1)) 2)))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda2))))) 14.950 * [backup-simplify]: Simplify (- 0) into 0 14.950 * [backup-simplify]: Simplify (+ 0 0) into 0 14.950 * [backup-simplify]: Simplify (- 0) into 0 14.951 * [backup-simplify]: Simplify (+ 0 0) into 0 14.951 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 14.952 * [backup-simplify]: Simplify (+ (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda2))))) (+ (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (pow (sin (* 0.5 phi1)) 2)))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda2))))) 0) into (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda2))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda2))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (pow (sin (* 0.5 phi1)) 2)))))) 14.955 * [backup-simplify]: Simplify (/ (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda2))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda2))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (pow (sin (* 0.5 phi1)) 2)))))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))))))) into (* 1/2 (* (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda2))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda2))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (pow (sin (* 0.5 phi1)) 2)))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))))) 14.955 * [taylor]: Taking taylor expansion of R in lambda1 14.955 * [backup-simplify]: Simplify R into R 14.955 * [taylor]: Taking taylor expansion of (* (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) R) in lambda1 14.955 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (- phi1 phi2)) in lambda1 14.955 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2)))) 14.955 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) (* (- phi1 phi2) (- phi1 phi2))) in lambda1 14.955 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2))) in lambda1 14.955 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in lambda1 14.955 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda1 14.955 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda1 14.955 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 14.955 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.955 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.955 * [backup-simplify]: Simplify 0.5 into 0.5 14.955 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.955 * [backup-simplify]: Simplify phi2 into phi2 14.955 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.955 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.955 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.955 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 14.955 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.955 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.955 * [backup-simplify]: Simplify 0.5 into 0.5 14.955 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.955 * [backup-simplify]: Simplify phi1 into phi1 14.956 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.956 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.956 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.956 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda1 14.956 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 14.956 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.956 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.956 * [backup-simplify]: Simplify 0.5 into 0.5 14.956 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.956 * [backup-simplify]: Simplify phi2 into phi2 14.956 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.956 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.956 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.956 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 14.956 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.956 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.956 * [backup-simplify]: Simplify 0.5 into 0.5 14.956 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.956 * [backup-simplify]: Simplify phi1 into phi1 14.956 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.956 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.956 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.956 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 14.956 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.956 * [backup-simplify]: Simplify 0 into 0 14.956 * [backup-simplify]: Simplify 1 into 1 14.956 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.956 * [backup-simplify]: Simplify lambda2 into lambda2 14.957 * [taylor]: Taking taylor expansion of (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda1 lambda2)) in lambda1 14.957 * [taylor]: Taking taylor expansion of (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) in lambda1 14.957 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in lambda1 14.957 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1 14.957 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.957 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.957 * [backup-simplify]: Simplify 0.5 into 0.5 14.957 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.957 * [backup-simplify]: Simplify phi2 into phi2 14.957 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.957 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.957 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.957 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1 14.957 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.957 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.957 * [backup-simplify]: Simplify 0.5 into 0.5 14.957 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.957 * [backup-simplify]: Simplify phi1 into phi1 14.957 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.957 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.957 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.957 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in lambda1 14.957 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1 14.958 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1 14.958 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.958 * [backup-simplify]: Simplify 0.5 into 0.5 14.958 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.958 * [backup-simplify]: Simplify phi2 into phi2 14.958 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 14.958 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 14.958 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 14.958 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1 14.958 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1 14.958 * [taylor]: Taking taylor expansion of 0.5 in lambda1 14.958 * [backup-simplify]: Simplify 0.5 into 0.5 14.958 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.958 * [backup-simplify]: Simplify phi1 into phi1 14.958 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 14.958 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 14.958 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 14.958 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 14.958 * [taylor]: Taking taylor expansion of lambda1 in lambda1 14.958 * [backup-simplify]: Simplify 0 into 0 14.958 * [backup-simplify]: Simplify 1 into 1 14.958 * [taylor]: Taking taylor expansion of lambda2 in lambda1 14.959 * [backup-simplify]: Simplify lambda2 into lambda2 14.959 * [taylor]: Taking taylor expansion of (* (- phi1 phi2) (- phi1 phi2)) in lambda1 14.959 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 14.959 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.959 * [backup-simplify]: Simplify phi1 into phi1 14.959 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.959 * [backup-simplify]: Simplify phi2 into phi2 14.959 * [taylor]: Taking taylor expansion of (- phi1 phi2) in lambda1 14.959 * [taylor]: Taking taylor expansion of phi1 in lambda1 14.959 * [backup-simplify]: Simplify phi1 into phi1 14.959 * [taylor]: Taking taylor expansion of phi2 in lambda1 14.959 * [backup-simplify]: Simplify phi2 into phi2 14.959 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.959 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.960 * [backup-simplify]: Simplify (- 0) into 0 14.960 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.960 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.960 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.960 * [backup-simplify]: Simplify (- 0) into 0 14.960 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.961 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 14.961 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.961 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.961 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.961 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.961 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.961 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.961 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.962 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.962 * [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)))) 14.962 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 14.962 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 14.963 * [backup-simplify]: Simplify (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda2)) into (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)) 14.963 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 14.963 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 14.963 * [backup-simplify]: Simplify (- 0) into 0 14.963 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 14.963 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 14.964 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 14.964 * [backup-simplify]: Simplify (- 0) into 0 14.964 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 14.964 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) into (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 14.965 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 14.965 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 14.965 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 14.965 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 14.965 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 14.965 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 14.965 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) into (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 14.965 * [backup-simplify]: Simplify (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) into (- (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.966 * [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)))) 14.966 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 14.966 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 14.966 * [backup-simplify]: Simplify (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) (- lambda2)) into (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)) 14.967 * [backup-simplify]: Simplify (* (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)) (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2))) into (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (pow lambda2 2)) 14.967 * [backup-simplify]: Simplify (- phi2) into (- phi2) 14.967 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 14.967 * [backup-simplify]: Simplify (- phi2) into (- phi2) 14.967 * [backup-simplify]: Simplify (+ phi1 (- phi2)) into (- phi1 phi2) 14.967 * [backup-simplify]: Simplify (* (- phi1 phi2) (- phi1 phi2)) into (pow (- phi1 phi2) 2) 14.968 * [backup-simplify]: Simplify (+ (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2) (pow lambda2 2)) (pow (- phi1 phi2) 2)) into (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) 14.972 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) 14.972 * [backup-simplify]: Simplify (- 0) into 0 14.973 * [backup-simplify]: Simplify (+ 1 0) into 1 14.974 * [backup-simplify]: Simplify (+ 0) into 0 14.974 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.975 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.976 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.976 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.977 * [backup-simplify]: Simplify (- 0) into 0 14.977 * [backup-simplify]: Simplify (+ 0 0) into 0 14.977 * [backup-simplify]: Simplify (+ 0) into 0 14.978 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.979 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.980 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.980 * [backup-simplify]: Simplify (- 0) into 0 14.981 * [backup-simplify]: Simplify (+ 0 0) into 0 14.981 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.981 * [backup-simplify]: Simplify (+ 0) into 0 14.982 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.982 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.983 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 14.984 * [backup-simplify]: Simplify (+ 0 0) into 0 14.984 * [backup-simplify]: Simplify (+ 0) into 0 14.985 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 14.985 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.986 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.986 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 14.987 * [backup-simplify]: Simplify (+ 0 0) into 0 14.987 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 14.987 * [backup-simplify]: Simplify (- 0) into 0 14.988 * [backup-simplify]: Simplify (+ 0 0) into 0 14.988 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 1) (* 0 (- lambda2))) into (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 14.989 * [backup-simplify]: Simplify (- 0) into 0 14.989 * [backup-simplify]: Simplify (+ 1 0) into 1 14.990 * [backup-simplify]: Simplify (+ 0) into 0 14.990 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 14.991 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.992 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 14.992 * [backup-simplify]: Simplify (- 0) into 0 14.993 * [backup-simplify]: Simplify (+ 0 0) into 0 14.993 * [backup-simplify]: Simplify (+ 0) into 0 14.994 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 14.994 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 14.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.996 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0 14.996 * [backup-simplify]: Simplify (- 0) into 0 14.996 * [backup-simplify]: Simplify (+ 0 0) into 0 14.997 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 14.997 * [backup-simplify]: Simplify (+ 0) into 0 14.997 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 14.998 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 14.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 14.999 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 15.000 * [backup-simplify]: Simplify (+ 0 0) into 0 15.000 * [backup-simplify]: Simplify (+ 0) into 0 15.001 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 15.001 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 15.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.003 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 15.003 * [backup-simplify]: Simplify (+ 0 0) into 0 15.003 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 15.004 * [backup-simplify]: Simplify (- 0) into 0 15.004 * [backup-simplify]: Simplify (+ 0 0) into 0 15.004 * [backup-simplify]: Simplify (+ (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 1) (* 0 (- lambda2))) into (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 15.007 * [backup-simplify]: Simplify (+ (* (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)) (- (* (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)))) (* -1 (* (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) lambda2)))) into (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda2))))) (+ (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (pow (sin (* 0.5 phi1)) 2)))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda2))))) 15.012 * [backup-simplify]: Simplify (- 0) into 0 15.012 * [backup-simplify]: Simplify (+ 0 0) into 0 15.013 * [backup-simplify]: Simplify (- 0) into 0 15.013 * [backup-simplify]: Simplify (+ 0 0) into 0 15.014 * [backup-simplify]: Simplify (+ (* (- phi1 phi2) 0) (* 0 (- phi1 phi2))) into 0 15.016 * [backup-simplify]: Simplify (+ (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda2))))) (+ (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (pow (sin (* 0.5 phi1)) 2)))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda2))))) 0) into (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda2))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda2))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (pow (sin (* 0.5 phi1)) 2)))))) 15.019 * [backup-simplify]: Simplify (/ (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda2))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda2))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (pow (sin (* 0.5 phi1)) 2)))))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))))))) into (* 1/2 (* (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda2))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda2))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (pow (sin (* 0.5 phi1)) 2)))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))))) 15.019 * [taylor]: Taking taylor expansion of R in lambda1 15.019 * [backup-simplify]: Simplify R into R 15.020 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) R) into (* (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) R) 15.021 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) R) in lambda2 15.021 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) in lambda2 15.021 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) in lambda2 15.021 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in lambda2 15.021 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 15.021 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 15.021 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.021 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.021 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.021 * [backup-simplify]: Simplify 0.5 into 0.5 15.021 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.021 * [backup-simplify]: Simplify phi2 into phi2 15.021 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.021 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.021 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.021 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.021 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.022 * [backup-simplify]: Simplify (- 0) into 0 15.022 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.022 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 15.022 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 15.022 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.022 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.022 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.022 * [backup-simplify]: Simplify 0.5 into 0.5 15.022 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.022 * [backup-simplify]: Simplify phi1 into phi1 15.022 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.022 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.022 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.022 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.022 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.022 * [backup-simplify]: Simplify (- 0) into 0 15.022 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.022 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.022 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.022 * [backup-simplify]: Simplify 0 into 0 15.022 * [backup-simplify]: Simplify 1 into 1 15.022 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2 15.023 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.023 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.023 * [backup-simplify]: Simplify phi1 into phi1 15.023 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2 15.023 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.023 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.023 * [backup-simplify]: Simplify phi2 into phi2 15.023 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 15.023 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 15.023 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.023 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.023 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.023 * [backup-simplify]: Simplify 0.5 into 0.5 15.023 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.023 * [backup-simplify]: Simplify phi2 into phi2 15.023 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.023 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.023 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.023 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 15.023 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.023 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 15.023 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 15.023 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.023 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.023 * [backup-simplify]: Simplify 0 into 0 15.023 * [backup-simplify]: Simplify 1 into 1 15.023 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 15.023 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.023 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.023 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.024 * [backup-simplify]: Simplify 0.5 into 0.5 15.024 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.024 * [backup-simplify]: Simplify phi1 into phi1 15.024 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.024 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.024 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.024 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 15.024 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 15.024 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 15.024 * [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))) in lambda2 15.024 * [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 15.024 * [taylor]: Taking taylor expansion of 2 in lambda2 15.024 * [backup-simplify]: Simplify 2 into 2 15.024 * [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 15.024 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.024 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.024 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.024 * [backup-simplify]: Simplify 0.5 into 0.5 15.024 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.024 * [backup-simplify]: Simplify phi2 into phi2 15.024 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.024 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.024 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.024 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 15.024 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.024 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.024 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.024 * [backup-simplify]: Simplify 0.5 into 0.5 15.024 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.024 * [backup-simplify]: Simplify phi2 into phi2 15.024 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.024 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.024 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.024 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 15.024 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.025 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.025 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.025 * [backup-simplify]: Simplify 0.5 into 0.5 15.025 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.025 * [backup-simplify]: Simplify phi1 into phi1 15.025 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.025 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.025 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.025 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 15.025 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.025 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.025 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.025 * [backup-simplify]: Simplify 0.5 into 0.5 15.025 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.025 * [backup-simplify]: Simplify phi1 into phi1 15.025 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.025 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.025 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.025 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.025 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.025 * [backup-simplify]: Simplify 0 into 0 15.025 * [backup-simplify]: Simplify 1 into 1 15.025 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 15.025 * [taylor]: Taking taylor expansion of 2 in lambda2 15.025 * [backup-simplify]: Simplify 2 into 2 15.025 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 15.025 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.025 * [backup-simplify]: Simplify phi2 into phi2 15.025 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.025 * [backup-simplify]: Simplify phi1 into phi1 15.025 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.025 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.025 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.026 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 15.026 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 15.026 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 15.026 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 15.026 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi2 phi1))) into (* 2 (* phi2 phi1)) 15.026 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 15.026 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 15.026 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 15.026 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.026 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.027 * [backup-simplify]: Simplify (+ 0 0) into 0 15.027 * [backup-simplify]: Simplify (+ 0 0) into 0 15.027 * [backup-simplify]: Simplify (+ 0 0) into 0 15.028 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 15.028 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 15.028 * [backup-simplify]: Simplify (+ 0 0) into 0 15.028 * [backup-simplify]: Simplify (- 0) into 0 15.029 * [backup-simplify]: Simplify (+ 0 0) into 0 15.029 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 15.029 * [taylor]: Taking taylor expansion of R in lambda2 15.029 * [backup-simplify]: Simplify R into R 15.029 * [backup-simplify]: Simplify (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) R) into (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) R) 15.029 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) R) in phi2 15.029 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi2 15.029 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi2 15.029 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi2 15.029 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 15.029 * [taylor]: Taking taylor expansion of phi2 in phi2 15.029 * [backup-simplify]: Simplify 0 into 0 15.029 * [backup-simplify]: Simplify 1 into 1 15.029 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 15.029 * [taylor]: Taking taylor expansion of phi1 in phi2 15.029 * [backup-simplify]: Simplify phi1 into phi1 15.029 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2 15.030 * [taylor]: Taking taylor expansion of 2 in phi2 15.030 * [backup-simplify]: Simplify 2 into 2 15.030 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2 15.030 * [taylor]: Taking taylor expansion of phi2 in phi2 15.030 * [backup-simplify]: Simplify 0 into 0 15.030 * [backup-simplify]: Simplify 1 into 1 15.030 * [taylor]: Taking taylor expansion of phi1 in phi2 15.030 * [backup-simplify]: Simplify phi1 into phi1 15.030 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.030 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2) 15.030 * [backup-simplify]: Simplify (* 0 phi1) into 0 15.030 * [backup-simplify]: Simplify (* 2 0) into 0 15.030 * [backup-simplify]: Simplify (- 0) into 0 15.030 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 15.031 * [backup-simplify]: Simplify (sqrt (pow phi1 2)) into phi1 15.031 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.031 * [backup-simplify]: Simplify (+ 0 0) into 0 15.031 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 15.031 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 15.031 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1)) 15.032 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi1))) into (- (* 2 phi1)) 15.032 * [backup-simplify]: Simplify (/ (- (* 2 phi1)) (* 2 (sqrt (pow phi1 2)))) into -1 15.032 * [taylor]: Taking taylor expansion of R in phi2 15.032 * [backup-simplify]: Simplify R into R 15.032 * [backup-simplify]: Simplify (* phi1 R) into (* R phi1) 15.032 * [taylor]: Taking taylor expansion of (* R phi1) in phi1 15.032 * [taylor]: Taking taylor expansion of R in phi1 15.032 * [backup-simplify]: Simplify R into R 15.032 * [taylor]: Taking taylor expansion of phi1 in phi1 15.032 * [backup-simplify]: Simplify 0 into 0 15.032 * [backup-simplify]: Simplify 1 into 1 15.032 * [backup-simplify]: Simplify (* R 0) into 0 15.032 * [taylor]: Taking taylor expansion of 0 in R 15.032 * [backup-simplify]: Simplify 0 into 0 15.032 * [backup-simplify]: Simplify 0 into 0 15.037 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) 0) (* (* 1/2 (* (- (* 4 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda2))))) (+ (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) lambda2))) (* 2 (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (pow (sin (* 0.5 phi1)) 2)))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))))) R)) into (- (* 2 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda2))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) R)))) (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) R)))))) 15.037 * [taylor]: Taking taylor expansion of (- (* 2 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda2))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) R)))) (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) R)))))) in lambda2 15.037 * [taylor]: Taking taylor expansion of (* 2 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda2))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))))) in lambda2 15.037 * [taylor]: Taking taylor expansion of 2 in lambda2 15.037 * [backup-simplify]: Simplify 2 into 2 15.037 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda2))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))))) in lambda2 15.037 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda2))))) in lambda2 15.037 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.037 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.037 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.037 * [backup-simplify]: Simplify 0.5 into 0.5 15.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.037 * [backup-simplify]: Simplify phi1 into phi1 15.037 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.037 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.037 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.038 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda2)))) in lambda2 15.038 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.038 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.038 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.038 * [backup-simplify]: Simplify 0.5 into 0.5 15.038 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.038 * [backup-simplify]: Simplify phi2 into phi2 15.038 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.038 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.038 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.038 * [taylor]: Taking taylor expansion of (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda2))) in lambda2 15.038 * [taylor]: Taking taylor expansion of R in lambda2 15.038 * [backup-simplify]: Simplify R into R 15.038 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda2)) in lambda2 15.038 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.038 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.038 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.038 * [backup-simplify]: Simplify 0.5 into 0.5 15.038 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.038 * [backup-simplify]: Simplify phi2 into phi2 15.038 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.038 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.038 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.038 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) lambda2) in lambda2 15.038 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.038 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.038 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.038 * [backup-simplify]: Simplify 0.5 into 0.5 15.038 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.038 * [backup-simplify]: Simplify phi1 into phi1 15.038 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.038 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.038 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.038 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.038 * [backup-simplify]: Simplify 0 into 0 15.038 * [backup-simplify]: Simplify 1 into 1 15.038 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) in lambda2 15.038 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) in lambda2 15.038 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) in lambda2 15.038 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in lambda2 15.039 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 15.039 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 15.039 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.039 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.039 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.039 * [backup-simplify]: Simplify 0.5 into 0.5 15.039 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.039 * [backup-simplify]: Simplify phi2 into phi2 15.039 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.039 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.039 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.039 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.039 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.039 * [backup-simplify]: Simplify (- 0) into 0 15.039 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.039 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 15.039 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 15.039 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.039 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.039 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.039 * [backup-simplify]: Simplify 0.5 into 0.5 15.039 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.040 * [backup-simplify]: Simplify phi1 into phi1 15.040 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.040 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.040 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.040 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.040 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.040 * [backup-simplify]: Simplify (- 0) into 0 15.040 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.040 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.040 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.040 * [backup-simplify]: Simplify 0 into 0 15.040 * [backup-simplify]: Simplify 1 into 1 15.040 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2 15.040 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.040 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.041 * [backup-simplify]: Simplify phi1 into phi1 15.041 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2 15.041 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.041 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.041 * [backup-simplify]: Simplify phi2 into phi2 15.041 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 15.041 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 15.041 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.041 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.041 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.041 * [backup-simplify]: Simplify 0.5 into 0.5 15.041 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.041 * [backup-simplify]: Simplify phi2 into phi2 15.041 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.041 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.041 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.041 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 15.041 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.041 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 15.041 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 15.041 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.041 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.041 * [backup-simplify]: Simplify 0 into 0 15.042 * [backup-simplify]: Simplify 1 into 1 15.042 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 15.042 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.042 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.042 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.042 * [backup-simplify]: Simplify 0.5 into 0.5 15.042 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.042 * [backup-simplify]: Simplify phi1 into phi1 15.042 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.042 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.042 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.042 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 15.042 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 15.042 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 15.042 * [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))) in lambda2 15.042 * [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 15.042 * [taylor]: Taking taylor expansion of 2 in lambda2 15.042 * [backup-simplify]: Simplify 2 into 2 15.042 * [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 15.042 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.042 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.042 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.042 * [backup-simplify]: Simplify 0.5 into 0.5 15.042 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.043 * [backup-simplify]: Simplify phi2 into phi2 15.043 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.043 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.043 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.043 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 15.043 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.043 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.043 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.043 * [backup-simplify]: Simplify 0.5 into 0.5 15.043 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.043 * [backup-simplify]: Simplify phi2 into phi2 15.043 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.043 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.043 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.043 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 15.043 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.043 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.043 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.043 * [backup-simplify]: Simplify 0.5 into 0.5 15.043 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.043 * [backup-simplify]: Simplify phi1 into phi1 15.043 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.044 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.044 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.044 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 15.044 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.044 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.044 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.044 * [backup-simplify]: Simplify 0.5 into 0.5 15.044 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.044 * [backup-simplify]: Simplify phi1 into phi1 15.044 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.044 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.044 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.044 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.044 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.044 * [backup-simplify]: Simplify 0 into 0 15.044 * [backup-simplify]: Simplify 1 into 1 15.044 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 15.044 * [taylor]: Taking taylor expansion of 2 in lambda2 15.044 * [backup-simplify]: Simplify 2 into 2 15.044 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 15.044 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.044 * [backup-simplify]: Simplify phi2 into phi2 15.044 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.044 * [backup-simplify]: Simplify phi1 into phi1 15.045 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.045 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.045 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.045 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 15.045 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 15.045 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 15.046 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 15.046 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi2 phi1))) into (* 2 (* phi2 phi1)) 15.046 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 15.046 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 15.047 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 15.047 * [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))))) 15.047 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.047 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.048 * [backup-simplify]: Simplify (+ 0 0) into 0 15.048 * [backup-simplify]: Simplify (+ 0 0) into 0 15.049 * [backup-simplify]: Simplify (+ 0 0) into 0 15.049 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 15.049 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 15.050 * [backup-simplify]: Simplify (+ 0 0) into 0 15.050 * [backup-simplify]: Simplify (- 0) into 0 15.050 * [backup-simplify]: Simplify (+ 0 0) into 0 15.051 * [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 15.052 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 15.052 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) R)))) (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) R))))) in lambda2 15.052 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) R)))) in lambda2 15.052 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) in lambda2 15.052 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) in lambda2 15.052 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) in lambda2 15.052 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in lambda2 15.053 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 15.053 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 15.053 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.053 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.053 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.053 * [backup-simplify]: Simplify 0.5 into 0.5 15.053 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.053 * [backup-simplify]: Simplify phi2 into phi2 15.053 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.053 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.053 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.053 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.053 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.054 * [backup-simplify]: Simplify (- 0) into 0 15.054 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.054 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 15.054 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 15.054 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.054 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.054 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.054 * [backup-simplify]: Simplify 0.5 into 0.5 15.054 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.054 * [backup-simplify]: Simplify phi1 into phi1 15.054 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.054 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.054 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.055 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.055 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.055 * [backup-simplify]: Simplify (- 0) into 0 15.055 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.055 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.055 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.055 * [backup-simplify]: Simplify 0 into 0 15.055 * [backup-simplify]: Simplify 1 into 1 15.055 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2 15.056 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.056 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.056 * [backup-simplify]: Simplify phi1 into phi1 15.056 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2 15.056 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.056 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.056 * [backup-simplify]: Simplify phi2 into phi2 15.056 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 15.056 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 15.056 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.056 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.056 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.056 * [backup-simplify]: Simplify 0.5 into 0.5 15.056 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.056 * [backup-simplify]: Simplify phi2 into phi2 15.056 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.056 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.056 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.057 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 15.057 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.057 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 15.057 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 15.057 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.057 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.057 * [backup-simplify]: Simplify 0 into 0 15.057 * [backup-simplify]: Simplify 1 into 1 15.057 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 15.057 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.057 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.057 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.057 * [backup-simplify]: Simplify 0.5 into 0.5 15.057 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.057 * [backup-simplify]: Simplify phi1 into phi1 15.057 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.058 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.058 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.058 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 15.058 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 15.058 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 15.058 * [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))) in lambda2 15.058 * [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 15.058 * [taylor]: Taking taylor expansion of 2 in lambda2 15.058 * [backup-simplify]: Simplify 2 into 2 15.058 * [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 15.058 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.058 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.058 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.058 * [backup-simplify]: Simplify 0.5 into 0.5 15.058 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.058 * [backup-simplify]: Simplify phi2 into phi2 15.058 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.059 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.059 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.059 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 15.059 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.059 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.059 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.059 * [backup-simplify]: Simplify 0.5 into 0.5 15.059 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.059 * [backup-simplify]: Simplify phi2 into phi2 15.059 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.059 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.059 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.059 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 15.059 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.059 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.059 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.059 * [backup-simplify]: Simplify 0.5 into 0.5 15.059 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.059 * [backup-simplify]: Simplify phi1 into phi1 15.059 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.060 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.060 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.060 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 15.060 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.060 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.060 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.060 * [backup-simplify]: Simplify 0.5 into 0.5 15.060 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.060 * [backup-simplify]: Simplify phi1 into phi1 15.060 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.060 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.060 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.060 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.060 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.060 * [backup-simplify]: Simplify 0 into 0 15.060 * [backup-simplify]: Simplify 1 into 1 15.060 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 15.060 * [taylor]: Taking taylor expansion of 2 in lambda2 15.060 * [backup-simplify]: Simplify 2 into 2 15.060 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 15.061 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.061 * [backup-simplify]: Simplify phi2 into phi2 15.061 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.061 * [backup-simplify]: Simplify phi1 into phi1 15.061 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.061 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.061 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.061 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 15.062 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 15.062 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 15.062 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 15.062 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi2 phi1))) into (* 2 (* phi2 phi1)) 15.062 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 15.062 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 15.063 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 15.063 * [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))))) 15.064 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.064 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.064 * [backup-simplify]: Simplify (+ 0 0) into 0 15.065 * [backup-simplify]: Simplify (+ 0 0) into 0 15.065 * [backup-simplify]: Simplify (+ 0 0) into 0 15.065 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 15.066 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 15.066 * [backup-simplify]: Simplify (+ 0 0) into 0 15.067 * [backup-simplify]: Simplify (- 0) into 0 15.067 * [backup-simplify]: Simplify (+ 0 0) into 0 15.068 * [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 15.068 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 15.068 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) R))) in lambda2 15.068 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 15.069 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.069 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.069 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.069 * [backup-simplify]: Simplify 0.5 into 0.5 15.069 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.069 * [backup-simplify]: Simplify phi2 into phi2 15.069 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.069 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.069 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.069 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 15.069 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.069 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 15.069 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (sin (* 0.5 phi1)) 2) R)) in lambda2 15.069 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.069 * [backup-simplify]: Simplify 0 into 0 15.069 * [backup-simplify]: Simplify 1 into 1 15.069 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) R) in lambda2 15.069 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 15.069 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.069 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.070 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.070 * [backup-simplify]: Simplify 0.5 into 0.5 15.070 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.070 * [backup-simplify]: Simplify phi1 into phi1 15.070 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.070 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.070 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.070 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 15.070 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 15.070 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 15.070 * [taylor]: Taking taylor expansion of R in lambda2 15.070 * [backup-simplify]: Simplify R into R 15.070 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) R)))) in lambda2 15.070 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) in lambda2 15.070 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) in lambda2 15.070 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) in lambda2 15.070 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in lambda2 15.071 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2 15.071 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 15.071 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.071 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.071 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.071 * [backup-simplify]: Simplify 0.5 into 0.5 15.071 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.071 * [backup-simplify]: Simplify phi2 into phi2 15.071 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.071 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.071 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.071 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.071 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.072 * [backup-simplify]: Simplify (- 0) into 0 15.072 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.072 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2 15.072 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 15.072 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.072 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.072 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.072 * [backup-simplify]: Simplify 0.5 into 0.5 15.072 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.072 * [backup-simplify]: Simplify phi1 into phi1 15.072 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.072 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.072 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.072 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.073 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.073 * [backup-simplify]: Simplify (- 0) into 0 15.073 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.073 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.073 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.073 * [backup-simplify]: Simplify 0 into 0 15.073 * [backup-simplify]: Simplify 1 into 1 15.074 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2 15.074 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.074 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.074 * [backup-simplify]: Simplify phi1 into phi1 15.074 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2 15.074 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.074 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.074 * [backup-simplify]: Simplify phi2 into phi2 15.074 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2 15.074 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2 15.074 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.074 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.074 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.074 * [backup-simplify]: Simplify 0.5 into 0.5 15.074 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.074 * [backup-simplify]: Simplify phi2 into phi2 15.074 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.074 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.074 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.074 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 15.074 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.075 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 15.075 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2 15.075 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.075 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.075 * [backup-simplify]: Simplify 0 into 0 15.075 * [backup-simplify]: Simplify 1 into 1 15.075 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2 15.075 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.075 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.075 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.075 * [backup-simplify]: Simplify 0.5 into 0.5 15.075 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.075 * [backup-simplify]: Simplify phi1 into phi1 15.075 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.075 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.075 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.075 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 15.075 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 15.076 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 15.076 * [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))) in lambda2 15.076 * [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 15.076 * [taylor]: Taking taylor expansion of 2 in lambda2 15.076 * [backup-simplify]: Simplify 2 into 2 15.076 * [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 lambda2 15.076 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.076 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.076 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.076 * [backup-simplify]: Simplify 0.5 into 0.5 15.076 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.076 * [backup-simplify]: Simplify phi2 into phi2 15.076 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.076 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.076 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.076 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2 15.076 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2 15.076 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.076 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.076 * [backup-simplify]: Simplify 0.5 into 0.5 15.076 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.076 * [backup-simplify]: Simplify phi2 into phi2 15.076 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.077 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.077 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.077 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2 15.077 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.077 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.077 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.077 * [backup-simplify]: Simplify 0.5 into 0.5 15.077 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.077 * [backup-simplify]: Simplify phi1 into phi1 15.077 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.077 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.077 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.077 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2 15.077 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2 15.077 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.077 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.077 * [backup-simplify]: Simplify 0.5 into 0.5 15.077 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.077 * [backup-simplify]: Simplify phi1 into phi1 15.077 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.077 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.078 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.078 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.078 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.078 * [backup-simplify]: Simplify 0 into 0 15.078 * [backup-simplify]: Simplify 1 into 1 15.078 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2 15.078 * [taylor]: Taking taylor expansion of 2 in lambda2 15.078 * [backup-simplify]: Simplify 2 into 2 15.078 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2 15.078 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.078 * [backup-simplify]: Simplify phi2 into phi2 15.078 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.078 * [backup-simplify]: Simplify phi1 into phi1 15.078 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.078 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.078 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.078 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 15.079 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 15.079 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1) 15.079 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1)) 15.079 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi2 phi1))) into (* 2 (* phi2 phi1)) 15.079 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1))) 15.080 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) 15.080 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 15.080 * [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))))) 15.081 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.081 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.081 * [backup-simplify]: Simplify (+ 0 0) into 0 15.082 * [backup-simplify]: Simplify (+ 0 0) into 0 15.082 * [backup-simplify]: Simplify (+ 0 0) into 0 15.082 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0 15.083 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0 15.083 * [backup-simplify]: Simplify (+ 0 0) into 0 15.083 * [backup-simplify]: Simplify (- 0) into 0 15.084 * [backup-simplify]: Simplify (+ 0 0) into 0 15.085 * [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 15.085 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0 15.085 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) R))) in lambda2 15.085 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2 15.085 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2 15.085 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2 15.085 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.085 * [backup-simplify]: Simplify 0.5 into 0.5 15.085 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.085 * [backup-simplify]: Simplify phi2 into phi2 15.085 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.086 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.086 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.086 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.086 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.086 * [backup-simplify]: Simplify (- 0) into 0 15.086 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.086 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) R)) in lambda2 15.086 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.087 * [backup-simplify]: Simplify 0 into 0 15.087 * [backup-simplify]: Simplify 1 into 1 15.087 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) R) in lambda2 15.087 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2 15.087 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2 15.087 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2 15.087 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.087 * [backup-simplify]: Simplify 0.5 into 0.5 15.087 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.087 * [backup-simplify]: Simplify phi1 into phi1 15.087 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.087 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.087 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.087 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.087 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.088 * [backup-simplify]: Simplify (- 0) into 0 15.088 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.088 * [taylor]: Taking taylor expansion of R in lambda2 15.088 * [backup-simplify]: Simplify R into R 15.088 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.088 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.088 * [backup-simplify]: Simplify (- 0) into 0 15.088 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.088 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 15.088 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.088 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 15.089 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.089 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.089 * [backup-simplify]: Simplify (- 0) into 0 15.089 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.089 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 15.089 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 15.089 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 15.089 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.089 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 15.089 * [backup-simplify]: Simplify (* R 0) into 0 15.089 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.089 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 15.090 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0 15.090 * [backup-simplify]: Simplify (* 2 0) into 0 15.090 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2) 15.090 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 15.090 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) R) into (* (pow (sin (* 0.5 phi1)) 2) R) 15.090 * [backup-simplify]: Simplify (* 0 (* (pow (sin (* 0.5 phi1)) 2) R)) into 0 15.091 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) 0) into 0 15.091 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 15.091 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 15.091 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 15.091 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) R) into (* (pow (cos (* 0.5 phi1)) 2) R) 15.091 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 phi1)) 2) R)) into 0 15.091 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) 0) into 0 15.092 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0 15.092 * [backup-simplify]: Simplify (+ 0 0) into 0 15.092 * [backup-simplify]: Simplify (- 0) into 0 15.092 * [backup-simplify]: Simplify (+ 0 0) into 0 15.092 * [taylor]: Taking taylor expansion of 0 in phi2 15.092 * [backup-simplify]: Simplify 0 into 0 15.092 * [taylor]: Taking taylor expansion of 0 in phi1 15.092 * [backup-simplify]: Simplify 0 into 0 15.092 * [taylor]: Taking taylor expansion of 0 in R 15.092 * [backup-simplify]: Simplify 0 into 0 15.092 * [backup-simplify]: Simplify 0 into 0 15.093 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) 0) (* 0 R)) into 0 15.093 * [taylor]: Taking taylor expansion of 0 in phi2 15.093 * [backup-simplify]: Simplify 0 into 0 15.093 * [taylor]: Taking taylor expansion of 0 in phi1 15.093 * [backup-simplify]: Simplify 0 into 0 15.093 * [taylor]: Taking taylor expansion of 0 in R 15.093 * [backup-simplify]: Simplify 0 into 0 15.093 * [backup-simplify]: Simplify 0 into 0 15.093 * [backup-simplify]: Simplify (+ (* phi1 0) (* -1 R)) into (- R) 15.093 * [taylor]: Taking taylor expansion of (- R) in phi1 15.093 * [taylor]: Taking taylor expansion of R in phi1 15.093 * [backup-simplify]: Simplify R into R 15.093 * [backup-simplify]: Simplify (- R) into (- R) 15.093 * [taylor]: Taking taylor expansion of (- R) in R 15.093 * [taylor]: Taking taylor expansion of R in R 15.093 * [backup-simplify]: Simplify 0 into 0 15.093 * [backup-simplify]: Simplify 1 into 1 15.093 * [backup-simplify]: Simplify (- 0) into 0 15.093 * [backup-simplify]: Simplify 0 into 0 15.094 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 15.094 * [taylor]: Taking taylor expansion of R in R 15.094 * [backup-simplify]: Simplify 0 into 0 15.094 * [backup-simplify]: Simplify 1 into 1 15.094 * [backup-simplify]: Simplify 0 into 0 15.094 * [backup-simplify]: Simplify 0 into 0 15.094 * [backup-simplify]: Simplify 0 into 0 15.094 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 lambda1) (/ 1 lambda2)) (- (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) (* (sin (* (/ 1 phi2) 0.5)) (sin (* (/ 1 phi1) 0.5))))) (- (/ 1 phi1) (/ 1 phi2))) (/ 1 R)) into (/ (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) 15.094 * [approximate]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in (lambda1 lambda2 phi2 phi1 R) around 0 15.094 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in R 15.094 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in R 15.095 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 15.095 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in R 15.095 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in R 15.095 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in R 15.095 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in R 15.095 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in R 15.095 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 15.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 15.095 * [taylor]: Taking taylor expansion of 0.5 in R 15.095 * [backup-simplify]: Simplify 0.5 into 0.5 15.095 * [taylor]: Taking taylor expansion of phi1 in R 15.095 * [backup-simplify]: Simplify phi1 into phi1 15.095 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.095 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.095 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.095 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 15.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 15.095 * [taylor]: Taking taylor expansion of 0.5 in R 15.095 * [backup-simplify]: Simplify 0.5 into 0.5 15.095 * [taylor]: Taking taylor expansion of phi2 in R 15.095 * [backup-simplify]: Simplify phi2 into phi2 15.095 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.095 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.095 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.095 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in R 15.095 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 15.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 15.095 * [taylor]: Taking taylor expansion of 0.5 in R 15.095 * [backup-simplify]: Simplify 0.5 into 0.5 15.095 * [taylor]: Taking taylor expansion of phi1 in R 15.095 * [backup-simplify]: Simplify phi1 into phi1 15.095 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.095 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.095 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.095 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 15.095 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 15.096 * [taylor]: Taking taylor expansion of 0.5 in R 15.096 * [backup-simplify]: Simplify 0.5 into 0.5 15.096 * [taylor]: Taking taylor expansion of phi2 in R 15.096 * [backup-simplify]: Simplify phi2 into phi2 15.096 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.096 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.096 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.096 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R 15.096 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 15.096 * [taylor]: Taking taylor expansion of lambda1 in R 15.096 * [backup-simplify]: Simplify lambda1 into lambda1 15.096 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 15.096 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 15.096 * [taylor]: Taking taylor expansion of lambda2 in R 15.096 * [backup-simplify]: Simplify lambda2 into lambda2 15.096 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 15.096 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in R 15.096 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in R 15.096 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in R 15.096 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 15.096 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 15.096 * [taylor]: Taking taylor expansion of 0.5 in R 15.096 * [backup-simplify]: Simplify 0.5 into 0.5 15.096 * [taylor]: Taking taylor expansion of phi1 in R 15.096 * [backup-simplify]: Simplify phi1 into phi1 15.096 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.096 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.096 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.096 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 15.096 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 15.096 * [taylor]: Taking taylor expansion of 0.5 in R 15.096 * [backup-simplify]: Simplify 0.5 into 0.5 15.096 * [taylor]: Taking taylor expansion of phi2 in R 15.096 * [backup-simplify]: Simplify phi2 into phi2 15.096 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.096 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.096 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.096 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in R 15.096 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 15.097 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 15.097 * [taylor]: Taking taylor expansion of 0.5 in R 15.097 * [backup-simplify]: Simplify 0.5 into 0.5 15.097 * [taylor]: Taking taylor expansion of phi1 in R 15.097 * [backup-simplify]: Simplify phi1 into phi1 15.097 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.097 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.097 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.097 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 15.097 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 15.097 * [taylor]: Taking taylor expansion of 0.5 in R 15.097 * [backup-simplify]: Simplify 0.5 into 0.5 15.097 * [taylor]: Taking taylor expansion of phi2 in R 15.097 * [backup-simplify]: Simplify phi2 into phi2 15.097 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.097 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.097 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.097 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in R 15.097 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 15.097 * [taylor]: Taking taylor expansion of lambda1 in R 15.097 * [backup-simplify]: Simplify lambda1 into lambda1 15.097 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 15.097 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 15.097 * [taylor]: Taking taylor expansion of lambda2 in R 15.097 * [backup-simplify]: Simplify lambda2 into lambda2 15.097 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 15.097 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in R 15.097 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R 15.097 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 15.097 * [taylor]: Taking taylor expansion of phi1 in R 15.097 * [backup-simplify]: Simplify phi1 into phi1 15.097 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.097 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 15.097 * [taylor]: Taking taylor expansion of phi2 in R 15.097 * [backup-simplify]: Simplify phi2 into phi2 15.097 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.097 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in R 15.097 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 15.097 * [taylor]: Taking taylor expansion of phi1 in R 15.097 * [backup-simplify]: Simplify phi1 into phi1 15.097 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.097 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 15.097 * [taylor]: Taking taylor expansion of phi2 in R 15.098 * [backup-simplify]: Simplify phi2 into phi2 15.098 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.098 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.098 * [backup-simplify]: Simplify (- 0) into 0 15.098 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.098 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.098 * [backup-simplify]: Simplify (- 0) into 0 15.099 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 15.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.099 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.099 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 15.099 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.099 * [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)))) 15.100 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 15.100 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 15.100 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) into (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) 15.100 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.100 * [backup-simplify]: Simplify (- 0) into 0 15.100 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.100 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.101 * [backup-simplify]: Simplify (- 0) into 0 15.101 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.101 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 15.101 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.101 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.101 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.101 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.101 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.101 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.101 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 15.101 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.102 * [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)))) 15.102 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 15.102 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 15.102 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) into (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) 15.103 * [backup-simplify]: Simplify (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) into (* (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) 15.103 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 15.103 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 15.103 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 15.103 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 15.103 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2) 15.104 * [backup-simplify]: Simplify (+ (* (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ (* (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)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* lambda2 lambda1))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda1 lambda2))) (+ (* 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)))))))) 15.110 * [backup-simplify]: Simplify (sqrt (- (+ (/ (* (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)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* lambda2 lambda1))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda1 lambda2))) (+ (* 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 (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)) (+ (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 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))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 lambda1))))))))) 15.110 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 15.110 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 15.110 * [backup-simplify]: Simplify (- 0) into 0 15.111 * [backup-simplify]: Simplify (+ 0 0) into 0 15.111 * [backup-simplify]: Simplify (+ 0) into 0 15.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.111 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.112 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.112 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.112 * [backup-simplify]: Simplify (- 0) into 0 15.113 * [backup-simplify]: Simplify (+ 0 0) into 0 15.113 * [backup-simplify]: Simplify (+ 0) into 0 15.113 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.114 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.114 * [backup-simplify]: Simplify (- 0) into 0 15.115 * [backup-simplify]: Simplify (+ 0 0) into 0 15.115 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.115 * [backup-simplify]: Simplify (+ 0) into 0 15.115 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.116 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.117 * [backup-simplify]: Simplify (+ 0 0) into 0 15.117 * [backup-simplify]: Simplify (+ 0) into 0 15.118 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.118 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.119 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.119 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.120 * [backup-simplify]: Simplify (+ 0 0) into 0 15.120 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.120 * [backup-simplify]: Simplify (- 0) into 0 15.121 * [backup-simplify]: Simplify (+ 0 0) into 0 15.121 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (* 0 (- (/ 1 lambda1) (/ 1 lambda2)))) into 0 15.121 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 15.122 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 15.122 * [backup-simplify]: Simplify (- 0) into 0 15.122 * [backup-simplify]: Simplify (+ 0 0) into 0 15.123 * [backup-simplify]: Simplify (+ 0) into 0 15.124 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.126 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.126 * [backup-simplify]: Simplify (- 0) into 0 15.126 * [backup-simplify]: Simplify (+ 0 0) into 0 15.127 * [backup-simplify]: Simplify (+ 0) into 0 15.127 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.128 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.128 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.129 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.129 * [backup-simplify]: Simplify (- 0) into 0 15.130 * [backup-simplify]: Simplify (+ 0 0) into 0 15.130 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.130 * [backup-simplify]: Simplify (+ 0) into 0 15.131 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.131 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.132 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.133 * [backup-simplify]: Simplify (+ 0 0) into 0 15.133 * [backup-simplify]: Simplify (+ 0) into 0 15.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.134 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.136 * [backup-simplify]: Simplify (+ 0 0) into 0 15.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.136 * [backup-simplify]: Simplify (- 0) into 0 15.136 * [backup-simplify]: Simplify (+ 0 0) into 0 15.137 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (* 0 (- (/ 1 lambda1) (/ 1 lambda2)))) into 0 15.138 * [backup-simplify]: Simplify (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) 0) (* 0 (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))))) into 0 15.138 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.138 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.139 * [backup-simplify]: Simplify (- 0) into 0 15.139 * [backup-simplify]: Simplify (+ 0 0) into 0 15.139 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.139 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.140 * [backup-simplify]: Simplify (- 0) into 0 15.140 * [backup-simplify]: Simplify (+ 0 0) into 0 15.141 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0 15.141 * [backup-simplify]: Simplify (+ 0 0) into 0 15.152 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (/ (* (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)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* lambda2 lambda1))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda1 lambda2))) (+ (* 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 0 15.152 * [taylor]: Taking taylor expansion of R in R 15.152 * [backup-simplify]: Simplify 0 into 0 15.152 * [backup-simplify]: Simplify 1 into 1 15.162 * [backup-simplify]: Simplify (/ (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)) (+ (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 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))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 lambda1))))))))) 1) 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)) (+ (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* lambda2 lambda1))) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 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))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 lambda1))))))))) 15.162 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi1 15.162 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi1 15.163 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 15.163 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi1 15.163 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi1 15.163 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1 15.163 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi1 15.163 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1 15.163 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.163 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.163 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.163 * [backup-simplify]: Simplify 0.5 into 0.5 15.163 * [taylor]: Taking taylor expansion of phi1 in phi1 15.163 * [backup-simplify]: Simplify 0 into 0 15.163 * [backup-simplify]: Simplify 1 into 1 15.168 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.168 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.168 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.168 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.169 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.169 * [backup-simplify]: Simplify 0.5 into 0.5 15.169 * [taylor]: Taking taylor expansion of phi2 in phi1 15.169 * [backup-simplify]: Simplify phi2 into phi2 15.169 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.169 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 15.169 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.169 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.169 * [backup-simplify]: Simplify 0.5 into 0.5 15.169 * [taylor]: Taking taylor expansion of phi1 in phi1 15.169 * [backup-simplify]: Simplify 0 into 0 15.169 * [backup-simplify]: Simplify 1 into 1 15.170 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.170 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.170 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.170 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.170 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.170 * [backup-simplify]: Simplify 0.5 into 0.5 15.170 * [taylor]: Taking taylor expansion of phi2 in phi1 15.170 * [backup-simplify]: Simplify phi2 into phi2 15.170 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.170 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.170 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.170 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 15.170 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 15.170 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.170 * [backup-simplify]: Simplify lambda1 into lambda1 15.170 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 15.170 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 15.171 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.171 * [backup-simplify]: Simplify lambda2 into lambda2 15.171 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 15.171 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi1 15.171 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi1 15.171 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1 15.171 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 15.171 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.171 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.171 * [backup-simplify]: Simplify 0.5 into 0.5 15.171 * [taylor]: Taking taylor expansion of phi1 in phi1 15.171 * [backup-simplify]: Simplify 0 into 0 15.171 * [backup-simplify]: Simplify 1 into 1 15.171 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.172 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.172 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 15.172 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.172 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.172 * [backup-simplify]: Simplify 0.5 into 0.5 15.172 * [taylor]: Taking taylor expansion of phi2 in phi1 15.172 * [backup-simplify]: Simplify phi2 into phi2 15.172 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.172 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.172 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.172 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 15.172 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 15.172 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 15.172 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.172 * [backup-simplify]: Simplify 0.5 into 0.5 15.172 * [taylor]: Taking taylor expansion of phi1 in phi1 15.172 * [backup-simplify]: Simplify 0 into 0 15.172 * [backup-simplify]: Simplify 1 into 1 15.173 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.173 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.173 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 15.173 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 15.173 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.173 * [backup-simplify]: Simplify 0.5 into 0.5 15.173 * [taylor]: Taking taylor expansion of phi2 in phi1 15.173 * [backup-simplify]: Simplify phi2 into phi2 15.173 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.173 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.173 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.173 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 15.173 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 15.173 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.173 * [backup-simplify]: Simplify lambda1 into lambda1 15.173 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 15.174 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 15.174 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.174 * [backup-simplify]: Simplify lambda2 into lambda2 15.174 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 15.174 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi1 15.174 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1 15.174 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.174 * [taylor]: Taking taylor expansion of phi1 in phi1 15.174 * [backup-simplify]: Simplify 0 into 0 15.174 * [backup-simplify]: Simplify 1 into 1 15.175 * [backup-simplify]: Simplify (/ 1 1) into 1 15.175 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.175 * [taylor]: Taking taylor expansion of phi2 in phi1 15.175 * [backup-simplify]: Simplify phi2 into phi2 15.175 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.175 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi1 15.175 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.175 * [taylor]: Taking taylor expansion of phi1 in phi1 15.175 * [backup-simplify]: Simplify 0 into 0 15.175 * [backup-simplify]: Simplify 1 into 1 15.175 * [backup-simplify]: Simplify (/ 1 1) into 1 15.175 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.175 * [taylor]: Taking taylor expansion of phi2 in phi1 15.175 * [backup-simplify]: Simplify phi2 into phi2 15.175 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.176 * [backup-simplify]: Simplify (+ 1 0) into 1 15.176 * [backup-simplify]: Simplify (+ 1 0) into 1 15.177 * [backup-simplify]: Simplify (* 1 1) into 1 15.177 * [backup-simplify]: Simplify (+ 0 1) into 1 15.178 * [backup-simplify]: Simplify (sqrt 1) into 1 15.179 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.179 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 15.179 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2)) 15.180 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.180 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 15.180 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi2))) into (- (/ 1 phi2)) 15.180 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi2))) (* (- (/ 1 phi2)) 1)) into (- (* 2 (/ 1 phi2))) 15.180 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 15.181 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 15.181 * [taylor]: Taking taylor expansion of R in phi1 15.181 * [backup-simplify]: Simplify R into R 15.181 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 15.181 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in phi2 15.181 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in phi2 15.181 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 15.181 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in phi2 15.181 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in phi2 15.181 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2 15.181 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi2 15.181 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2 15.181 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.181 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.181 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.181 * [backup-simplify]: Simplify 0.5 into 0.5 15.181 * [taylor]: Taking taylor expansion of phi1 in phi2 15.181 * [backup-simplify]: Simplify phi1 into phi1 15.181 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.181 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.181 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.181 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.181 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.181 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.181 * [backup-simplify]: Simplify 0.5 into 0.5 15.181 * [taylor]: Taking taylor expansion of phi2 in phi2 15.181 * [backup-simplify]: Simplify 0 into 0 15.181 * [backup-simplify]: Simplify 1 into 1 15.182 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.182 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.182 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 15.182 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.182 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.182 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.182 * [backup-simplify]: Simplify 0.5 into 0.5 15.182 * [taylor]: Taking taylor expansion of phi1 in phi2 15.182 * [backup-simplify]: Simplify phi1 into phi1 15.182 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.182 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.182 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.182 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.182 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.182 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.182 * [backup-simplify]: Simplify 0.5 into 0.5 15.182 * [taylor]: Taking taylor expansion of phi2 in phi2 15.182 * [backup-simplify]: Simplify 0 into 0 15.182 * [backup-simplify]: Simplify 1 into 1 15.183 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.183 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.183 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 15.183 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 15.183 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.183 * [backup-simplify]: Simplify lambda1 into lambda1 15.183 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 15.183 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 15.183 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.183 * [backup-simplify]: Simplify lambda2 into lambda2 15.183 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 15.183 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in phi2 15.183 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in phi2 15.183 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2 15.183 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.183 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.183 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.183 * [backup-simplify]: Simplify 0.5 into 0.5 15.183 * [taylor]: Taking taylor expansion of phi1 in phi2 15.183 * [backup-simplify]: Simplify phi1 into phi1 15.183 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.183 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.183 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.183 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.183 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.183 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.183 * [backup-simplify]: Simplify 0.5 into 0.5 15.183 * [taylor]: Taking taylor expansion of phi2 in phi2 15.183 * [backup-simplify]: Simplify 0 into 0 15.183 * [backup-simplify]: Simplify 1 into 1 15.184 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.184 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 15.184 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.184 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.184 * [backup-simplify]: Simplify 0.5 into 0.5 15.184 * [taylor]: Taking taylor expansion of phi1 in phi2 15.184 * [backup-simplify]: Simplify phi1 into phi1 15.184 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.184 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.184 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.184 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.184 * [backup-simplify]: Simplify 0.5 into 0.5 15.184 * [taylor]: Taking taylor expansion of phi2 in phi2 15.184 * [backup-simplify]: Simplify 0 into 0 15.184 * [backup-simplify]: Simplify 1 into 1 15.185 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.185 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 15.185 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 15.185 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.185 * [backup-simplify]: Simplify lambda1 into lambda1 15.185 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 15.185 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 15.185 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.185 * [backup-simplify]: Simplify lambda2 into lambda2 15.185 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 15.185 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in phi2 15.185 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2 15.185 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.185 * [taylor]: Taking taylor expansion of phi1 in phi2 15.185 * [backup-simplify]: Simplify phi1 into phi1 15.185 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.185 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.185 * [taylor]: Taking taylor expansion of phi2 in phi2 15.185 * [backup-simplify]: Simplify 0 into 0 15.185 * [backup-simplify]: Simplify 1 into 1 15.185 * [backup-simplify]: Simplify (/ 1 1) into 1 15.186 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in phi2 15.186 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.186 * [taylor]: Taking taylor expansion of phi1 in phi2 15.186 * [backup-simplify]: Simplify phi1 into phi1 15.186 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.186 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.186 * [taylor]: Taking taylor expansion of phi2 in phi2 15.186 * [backup-simplify]: Simplify 0 into 0 15.186 * [backup-simplify]: Simplify 1 into 1 15.186 * [backup-simplify]: Simplify (/ 1 1) into 1 15.186 * [backup-simplify]: Simplify (- 1) into -1 15.187 * [backup-simplify]: Simplify (+ 0 -1) into -1 15.187 * [backup-simplify]: Simplify (- 1) into -1 15.187 * [backup-simplify]: Simplify (+ 0 -1) into -1 15.187 * [backup-simplify]: Simplify (* -1 -1) into 1 15.188 * [backup-simplify]: Simplify (+ 0 1) into 1 15.188 * [backup-simplify]: Simplify (sqrt 1) into 1 15.189 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.189 * [backup-simplify]: Simplify (- 0) into 0 15.189 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1) 15.189 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.190 * [backup-simplify]: Simplify (- 0) into 0 15.190 * [backup-simplify]: Simplify (+ (/ 1 phi1) 0) into (/ 1 phi1) 15.190 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi1)) (* (/ 1 phi1) -1)) into (- (* 2 (/ 1 phi1))) 15.190 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 15.190 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 15.190 * [taylor]: Taking taylor expansion of R in phi2 15.190 * [backup-simplify]: Simplify R into R 15.190 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 15.190 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda2 15.191 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda2 15.191 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 15.191 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.191 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda2 15.191 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2 15.191 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in lambda2 15.191 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda2 15.191 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.191 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.191 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.191 * [backup-simplify]: Simplify 0.5 into 0.5 15.191 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.191 * [backup-simplify]: Simplify phi1 into phi1 15.191 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.191 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.191 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.191 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.191 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.191 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.191 * [backup-simplify]: Simplify 0.5 into 0.5 15.191 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.191 * [backup-simplify]: Simplify phi2 into phi2 15.191 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.191 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.191 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.191 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in lambda2 15.191 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.191 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.191 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.191 * [backup-simplify]: Simplify 0.5 into 0.5 15.192 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.192 * [backup-simplify]: Simplify phi1 into phi1 15.192 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.192 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.192 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.192 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.192 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.192 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.192 * [backup-simplify]: Simplify 0.5 into 0.5 15.192 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.192 * [backup-simplify]: Simplify phi2 into phi2 15.192 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.192 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.192 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.192 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 15.192 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 15.192 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.192 * [backup-simplify]: Simplify lambda1 into lambda1 15.192 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 15.192 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 15.192 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.192 * [backup-simplify]: Simplify 0 into 0 15.192 * [backup-simplify]: Simplify 1 into 1 15.192 * [backup-simplify]: Simplify (/ 1 1) into 1 15.192 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda2 15.192 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in lambda2 15.192 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda2 15.192 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.193 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.193 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.193 * [backup-simplify]: Simplify 0.5 into 0.5 15.193 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.193 * [backup-simplify]: Simplify phi1 into phi1 15.193 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.193 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.193 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.193 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.193 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.193 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.193 * [backup-simplify]: Simplify 0.5 into 0.5 15.193 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.193 * [backup-simplify]: Simplify phi2 into phi2 15.193 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.193 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.193 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.193 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in lambda2 15.193 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.193 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.193 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.193 * [backup-simplify]: Simplify 0.5 into 0.5 15.193 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.193 * [backup-simplify]: Simplify phi1 into phi1 15.193 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.193 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.193 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.193 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.193 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.193 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.193 * [backup-simplify]: Simplify 0.5 into 0.5 15.193 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.193 * [backup-simplify]: Simplify phi2 into phi2 15.193 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.193 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.194 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.194 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 15.194 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 15.194 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.194 * [backup-simplify]: Simplify lambda1 into lambda1 15.194 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 15.194 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 15.194 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.194 * [backup-simplify]: Simplify 0 into 0 15.194 * [backup-simplify]: Simplify 1 into 1 15.194 * [backup-simplify]: Simplify (/ 1 1) into 1 15.194 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda2 15.194 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2 15.194 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.194 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.194 * [backup-simplify]: Simplify phi1 into phi1 15.194 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.194 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.194 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.194 * [backup-simplify]: Simplify phi2 into phi2 15.194 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.194 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda2 15.194 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.194 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.194 * [backup-simplify]: Simplify phi1 into phi1 15.194 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.194 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.194 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.194 * [backup-simplify]: Simplify phi2 into phi2 15.194 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.194 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.195 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.195 * [backup-simplify]: Simplify (- 0) into 0 15.195 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.195 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.195 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.195 * [backup-simplify]: Simplify (- 0) into 0 15.195 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.195 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 15.195 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.196 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.196 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.196 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.196 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.196 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.196 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 15.196 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.196 * [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)))) 15.197 * [backup-simplify]: Simplify (- 1) into -1 15.197 * [backup-simplify]: Simplify (+ 0 -1) into -1 15.197 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) -1) into (* -1 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) 15.197 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.197 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.197 * [backup-simplify]: Simplify (- 0) into 0 15.198 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.198 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.198 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.198 * [backup-simplify]: Simplify (- 0) into 0 15.198 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.198 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 15.198 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.198 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.198 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.198 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.198 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.198 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.199 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 15.199 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.199 * [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)))) 15.199 * [backup-simplify]: Simplify (- 1) into -1 15.199 * [backup-simplify]: Simplify (+ 0 -1) into -1 15.200 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) -1) into (* -1 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) 15.200 * [backup-simplify]: Simplify (* (* -1 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) (* -1 (- (* (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) 15.200 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) 0) 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))))))) 15.201 * [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)))))))) 15.202 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.202 * [backup-simplify]: Simplify (- 0) into 0 15.202 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 15.202 * [backup-simplify]: Simplify (+ 0) into 0 15.203 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.203 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.203 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.204 * [backup-simplify]: Simplify (- 0) into 0 15.204 * [backup-simplify]: Simplify (+ 0 0) into 0 15.205 * [backup-simplify]: Simplify (+ 0) into 0 15.205 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.205 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.206 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.206 * [backup-simplify]: Simplify (- 0) into 0 15.206 * [backup-simplify]: Simplify (+ 0 0) into 0 15.207 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.207 * [backup-simplify]: Simplify (+ 0) into 0 15.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.207 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.208 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.208 * [backup-simplify]: Simplify (+ 0 0) into 0 15.209 * [backup-simplify]: Simplify (+ 0) into 0 15.209 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.209 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.210 * [backup-simplify]: Simplify (+ 0 0) into 0 15.210 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.210 * [backup-simplify]: Simplify (- 0) into 0 15.211 * [backup-simplify]: Simplify (+ 0 0) into 0 15.211 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (/ 1 lambda1)) (* 0 -1)) into (- (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda1) (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda1)) 15.212 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.212 * [backup-simplify]: Simplify (- 0) into 0 15.212 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1) 15.212 * [backup-simplify]: Simplify (+ 0) into 0 15.213 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.213 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.214 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.214 * [backup-simplify]: Simplify (- 0) into 0 15.214 * [backup-simplify]: Simplify (+ 0 0) into 0 15.214 * [backup-simplify]: Simplify (+ 0) into 0 15.215 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.215 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.216 * [backup-simplify]: Simplify (- 0) into 0 15.216 * [backup-simplify]: Simplify (+ 0 0) into 0 15.216 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.217 * [backup-simplify]: Simplify (+ 0) into 0 15.217 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.217 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.219 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.219 * [backup-simplify]: Simplify (+ 0 0) into 0 15.220 * [backup-simplify]: Simplify (+ 0) into 0 15.220 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.220 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.222 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.222 * [backup-simplify]: Simplify (+ 0 0) into 0 15.222 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.223 * [backup-simplify]: Simplify (- 0) into 0 15.223 * [backup-simplify]: Simplify (+ 0 0) into 0 15.224 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (/ 1 lambda1)) (* 0 -1)) into (- (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda1) (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda1)) 15.227 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) (- (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda1) (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda1))) (* (- (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda1) (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda1)) (* -1 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))))) into (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda1)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda1)))) 15.229 * [backup-simplify]: Simplify (+ (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda1)) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) lambda1)) (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda1)))) 0) into (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda1)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) lambda1)))) 15.231 * [backup-simplify]: Simplify (/ (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda1)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 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 (* 1/2 (* (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda1)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) lambda1)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 15.231 * [taylor]: Taking taylor expansion of R in lambda2 15.231 * [backup-simplify]: Simplify R into R 15.231 * [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)))))))) R) into (* (/ 1 R) (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))))))))) 15.231 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1 15.232 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 15.232 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 15.232 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.232 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1 15.232 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1 15.232 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in lambda1 15.232 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1 15.232 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.232 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.232 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.232 * [backup-simplify]: Simplify 0.5 into 0.5 15.232 * [taylor]: Taking taylor expansion of phi1 in lambda1 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 (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.232 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.232 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.232 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.232 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.232 * [backup-simplify]: Simplify 0.5 into 0.5 15.232 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.232 * [backup-simplify]: Simplify phi2 into phi2 15.232 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.232 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.232 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.232 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in lambda1 15.232 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.232 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.232 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.232 * [backup-simplify]: Simplify 0.5 into 0.5 15.232 * [taylor]: Taking taylor expansion of phi1 in lambda1 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)) 15.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.233 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.233 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.233 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.233 * [backup-simplify]: Simplify 0.5 into 0.5 15.233 * [taylor]: Taking taylor expansion of phi2 in lambda1 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 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 15.233 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 15.233 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.233 * [backup-simplify]: Simplify 0 into 0 15.233 * [backup-simplify]: Simplify 1 into 1 15.233 * [backup-simplify]: Simplify (/ 1 1) into 1 15.233 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 15.233 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.233 * [backup-simplify]: Simplify lambda2 into lambda2 15.233 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 15.233 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1 15.233 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in lambda1 15.234 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1 15.234 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.234 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.234 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.234 * [backup-simplify]: Simplify 0.5 into 0.5 15.234 * [taylor]: Taking taylor expansion of phi1 in lambda1 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 (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.234 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.234 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.234 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.234 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.234 * [backup-simplify]: Simplify 0.5 into 0.5 15.234 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.234 * [backup-simplify]: Simplify phi2 into phi2 15.234 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.234 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.234 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.234 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in lambda1 15.234 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.234 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.234 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.234 * [backup-simplify]: Simplify 0.5 into 0.5 15.234 * [taylor]: Taking taylor expansion of phi1 in lambda1 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 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.234 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.234 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.234 * [backup-simplify]: Simplify 0.5 into 0.5 15.234 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.234 * [backup-simplify]: Simplify phi2 into phi2 15.234 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.234 * [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 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 15.235 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 15.235 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.235 * [backup-simplify]: Simplify 0 into 0 15.235 * [backup-simplify]: Simplify 1 into 1 15.235 * [backup-simplify]: Simplify (/ 1 1) into 1 15.235 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 15.235 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.235 * [backup-simplify]: Simplify lambda2 into lambda2 15.235 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 15.235 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 15.235 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 15.235 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.235 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.235 * [backup-simplify]: Simplify phi1 into phi1 15.235 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.235 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.235 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.235 * [backup-simplify]: Simplify phi2 into phi2 15.235 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.235 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 15.235 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.235 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.235 * [backup-simplify]: Simplify phi1 into phi1 15.235 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.235 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.235 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.235 * [backup-simplify]: Simplify phi2 into phi2 15.235 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.236 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.236 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.236 * [backup-simplify]: Simplify (- 0) into 0 15.236 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.236 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.236 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.236 * [backup-simplify]: Simplify (- 0) into 0 15.236 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.237 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 15.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.237 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.237 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.237 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.237 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 15.237 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.237 * [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)))) 15.238 * [backup-simplify]: Simplify (+ 1 0) into 1 15.238 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 1) into (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.238 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.238 * [backup-simplify]: Simplify (- 0) into 0 15.238 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.238 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.239 * [backup-simplify]: Simplify (- 0) into 0 15.239 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 15.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.239 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.239 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 15.240 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.240 * [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)))) 15.240 * [backup-simplify]: Simplify (+ 1 0) into 1 15.240 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 1) into (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.241 * [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) 15.241 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) 0) 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))))))) 15.242 * [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)))))))) 15.243 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.243 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 15.243 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 15.243 * [backup-simplify]: Simplify (+ 0) into 0 15.244 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.244 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.244 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.245 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.245 * [backup-simplify]: Simplify (- 0) into 0 15.245 * [backup-simplify]: Simplify (+ 0 0) into 0 15.245 * [backup-simplify]: Simplify (+ 0) into 0 15.246 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.246 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.247 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.247 * [backup-simplify]: Simplify (- 0) into 0 15.247 * [backup-simplify]: Simplify (+ 0 0) into 0 15.247 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.247 * [backup-simplify]: Simplify (+ 0) into 0 15.248 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.248 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.249 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.249 * [backup-simplify]: Simplify (+ 0 0) into 0 15.249 * [backup-simplify]: Simplify (+ 0) into 0 15.249 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.250 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.250 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.250 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.251 * [backup-simplify]: Simplify (+ 0 0) into 0 15.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.251 * [backup-simplify]: Simplify (- 0) into 0 15.251 * [backup-simplify]: Simplify (+ 0 0) into 0 15.252 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2)) 15.252 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.253 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 15.253 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 15.253 * [backup-simplify]: Simplify (+ 0) into 0 15.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.253 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.254 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.254 * [backup-simplify]: Simplify (- 0) into 0 15.255 * [backup-simplify]: Simplify (+ 0 0) into 0 15.255 * [backup-simplify]: Simplify (+ 0) into 0 15.255 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.255 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.256 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.256 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.256 * [backup-simplify]: Simplify (- 0) into 0 15.257 * [backup-simplify]: Simplify (+ 0 0) into 0 15.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.257 * [backup-simplify]: Simplify (+ 0) into 0 15.257 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.257 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.258 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.258 * [backup-simplify]: Simplify (+ 0 0) into 0 15.259 * [backup-simplify]: Simplify (+ 0) into 0 15.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.259 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.260 * [backup-simplify]: Simplify (+ 0 0) into 0 15.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.261 * [backup-simplify]: Simplify (- 0) into 0 15.261 * [backup-simplify]: Simplify (+ 0 0) into 0 15.262 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2)) 15.264 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2))) (* (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2)) (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))))) into (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) lambda2)))) 15.267 * [backup-simplify]: Simplify (+ (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) lambda2)))) 0) into (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) lambda2)))) 15.271 * [backup-simplify]: Simplify (/ (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 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 (* 1/2 (* (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 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))))))))))) 15.271 * [taylor]: Taking taylor expansion of R in lambda1 15.271 * [backup-simplify]: Simplify R into R 15.272 * [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)))))))) R) into (* (/ 1 R) (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))))))))) 15.272 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) R) in lambda1 15.272 * [taylor]: Taking taylor expansion of (hypot (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 15.273 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) 15.273 * [taylor]: Taking taylor expansion of (+ (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.273 * [taylor]: Taking taylor expansion of (* (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2)))) in lambda1 15.273 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1 15.273 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in lambda1 15.273 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1 15.273 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.273 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.273 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.273 * [backup-simplify]: Simplify 0.5 into 0.5 15.273 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.273 * [backup-simplify]: Simplify phi1 into phi1 15.273 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.273 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.273 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.273 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.273 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.273 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.273 * [backup-simplify]: Simplify 0.5 into 0.5 15.273 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.274 * [backup-simplify]: Simplify phi2 into phi2 15.274 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.274 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.274 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in lambda1 15.274 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.274 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.274 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.274 * [backup-simplify]: Simplify 0.5 into 0.5 15.274 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.274 * [backup-simplify]: Simplify phi1 into phi1 15.274 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.274 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.274 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.274 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.275 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.275 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.275 * [backup-simplify]: Simplify 0.5 into 0.5 15.275 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.275 * [backup-simplify]: Simplify phi2 into phi2 15.275 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.275 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.275 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.275 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 15.275 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 15.275 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.275 * [backup-simplify]: Simplify 0 into 0 15.275 * [backup-simplify]: Simplify 1 into 1 15.276 * [backup-simplify]: Simplify (/ 1 1) into 1 15.276 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 15.276 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.276 * [backup-simplify]: Simplify lambda2 into lambda2 15.276 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 15.276 * [taylor]: Taking taylor expansion of (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda1) (/ 1 lambda2))) in lambda1 15.276 * [taylor]: Taking taylor expansion of (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) in lambda1 15.276 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in lambda1 15.276 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1 15.276 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.276 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.276 * [backup-simplify]: Simplify 0.5 into 0.5 15.276 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.276 * [backup-simplify]: Simplify phi1 into phi1 15.276 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.276 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.276 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.277 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1 15.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.277 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.277 * [backup-simplify]: Simplify 0.5 into 0.5 15.277 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.277 * [backup-simplify]: Simplify phi2 into phi2 15.277 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.277 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in lambda1 15.277 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1 15.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1 15.277 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.277 * [backup-simplify]: Simplify 0.5 into 0.5 15.277 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.277 * [backup-simplify]: Simplify phi1 into phi1 15.277 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.277 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1 15.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1 15.277 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.277 * [backup-simplify]: Simplify 0.5 into 0.5 15.278 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.278 * [backup-simplify]: Simplify phi2 into phi2 15.278 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.278 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.278 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.278 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 15.278 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 15.278 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.278 * [backup-simplify]: Simplify 0 into 0 15.278 * [backup-simplify]: Simplify 1 into 1 15.278 * [backup-simplify]: Simplify (/ 1 1) into 1 15.278 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 15.278 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.279 * [backup-simplify]: Simplify lambda2 into lambda2 15.279 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 15.279 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) in lambda1 15.279 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 15.279 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.279 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.279 * [backup-simplify]: Simplify phi1 into phi1 15.279 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.279 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.279 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.279 * [backup-simplify]: Simplify phi2 into phi2 15.279 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.279 * [taylor]: Taking taylor expansion of (- (/ 1 phi1) (/ 1 phi2)) in lambda1 15.279 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.279 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.279 * [backup-simplify]: Simplify phi1 into phi1 15.279 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.279 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.279 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.279 * [backup-simplify]: Simplify phi2 into phi2 15.279 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.279 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.280 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.280 * [backup-simplify]: Simplify (- 0) into 0 15.280 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.280 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.280 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.281 * [backup-simplify]: Simplify (- 0) into 0 15.281 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 15.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.281 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.282 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.282 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 15.282 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.282 * [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)))) 15.283 * [backup-simplify]: Simplify (+ 1 0) into 1 15.283 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 1) into (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.284 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.284 * [backup-simplify]: Simplify (- 0) into 0 15.284 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.284 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.284 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.285 * [backup-simplify]: Simplify (- 0) into 0 15.285 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.285 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 15.285 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.285 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.286 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.286 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.286 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.286 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 15.286 * [backup-simplify]: Simplify (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (- (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.287 * [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)))) 15.287 * [backup-simplify]: Simplify (+ 1 0) into 1 15.288 * [backup-simplify]: Simplify (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 1) into (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 15.289 * [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) 15.289 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 2) 0) 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))))))) 15.291 * [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)))))))) 15.292 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.292 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 15.292 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 15.293 * [backup-simplify]: Simplify (+ 0) into 0 15.293 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.293 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.294 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.295 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.295 * [backup-simplify]: Simplify (- 0) into 0 15.295 * [backup-simplify]: Simplify (+ 0 0) into 0 15.296 * [backup-simplify]: Simplify (+ 0) into 0 15.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.297 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.298 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.298 * [backup-simplify]: Simplify (- 0) into 0 15.299 * [backup-simplify]: Simplify (+ 0 0) into 0 15.299 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.299 * [backup-simplify]: Simplify (+ 0) into 0 15.300 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.300 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.301 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.301 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.302 * [backup-simplify]: Simplify (+ 0 0) into 0 15.302 * [backup-simplify]: Simplify (+ 0) into 0 15.303 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.303 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.304 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.304 * [backup-simplify]: Simplify (+ 0 0) into 0 15.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.305 * [backup-simplify]: Simplify (- 0) into 0 15.308 * [backup-simplify]: Simplify (+ 0 0) into 0 15.309 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2)) 15.310 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.310 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 15.310 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 15.311 * [backup-simplify]: Simplify (+ 0) into 0 15.311 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.312 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.313 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.313 * [backup-simplify]: Simplify (- 0) into 0 15.314 * [backup-simplify]: Simplify (+ 0 0) into 0 15.314 * [backup-simplify]: Simplify (+ 0) into 0 15.315 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.315 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.316 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.316 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.317 * [backup-simplify]: Simplify (- 0) into 0 15.317 * [backup-simplify]: Simplify (+ 0 0) into 0 15.317 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.318 * [backup-simplify]: Simplify (+ 0) into 0 15.318 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.318 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.320 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.320 * [backup-simplify]: Simplify (+ 0 0) into 0 15.321 * [backup-simplify]: Simplify (+ 0) into 0 15.321 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.321 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.322 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.323 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.323 * [backup-simplify]: Simplify (+ 0 0) into 0 15.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.324 * [backup-simplify]: Simplify (- 0) into 0 15.324 * [backup-simplify]: Simplify (+ 0 0) into 0 15.325 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ 1 lambda2))) (* 0 1)) into (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2)) 15.327 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2))) (* (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2)) (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))))) into (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) lambda2)))) 15.330 * [backup-simplify]: Simplify (+ (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) lambda2)))) 0) into (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) lambda2)))) 15.333 * [backup-simplify]: Simplify (/ (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 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 (* 1/2 (* (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 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))))))))))) 15.334 * [taylor]: Taking taylor expansion of R in lambda1 15.334 * [backup-simplify]: Simplify R into R 15.335 * [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)))))))) R) into (* (/ 1 R) (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))))))))) 15.335 * [taylor]: Taking taylor expansion of (* (/ 1 R) (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda2 15.335 * [taylor]: Taking taylor expansion of (/ 1 R) in lambda2 15.335 * [taylor]: Taking taylor expansion of R in lambda2 15.335 * [backup-simplify]: Simplify R into R 15.335 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 15.336 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda2 15.336 * [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 15.336 * [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 15.336 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.336 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.336 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.336 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.336 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.336 * [backup-simplify]: Simplify 0.5 into 0.5 15.336 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.336 * [backup-simplify]: Simplify phi1 into phi1 15.336 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.336 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.336 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.336 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.336 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.336 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.337 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.337 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.337 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.337 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.337 * [backup-simplify]: Simplify 0.5 into 0.5 15.337 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.337 * [backup-simplify]: Simplify phi2 into phi2 15.337 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.337 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.337 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.337 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.337 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.337 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.337 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.337 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.337 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.337 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.337 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.337 * [backup-simplify]: Simplify 0.5 into 0.5 15.338 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.338 * [backup-simplify]: Simplify phi1 into phi1 15.338 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.338 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.338 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.338 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.338 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.339 * [backup-simplify]: Simplify (- 0) into 0 15.339 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.339 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.339 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.339 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.339 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.339 * [backup-simplify]: Simplify 0.5 into 0.5 15.339 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.339 * [backup-simplify]: Simplify phi2 into phi2 15.339 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.339 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.339 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.339 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.340 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.340 * [backup-simplify]: Simplify (- 0) into 0 15.340 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.340 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 15.340 * [taylor]: Taking taylor expansion of 2 in lambda2 15.340 * [backup-simplify]: Simplify 2 into 2 15.340 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.340 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.340 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.340 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.340 * [backup-simplify]: Simplify 0.5 into 0.5 15.340 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.341 * [backup-simplify]: Simplify phi1 into phi1 15.341 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.341 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.341 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.341 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.341 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.341 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.341 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.341 * [backup-simplify]: Simplify 0.5 into 0.5 15.341 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.341 * [backup-simplify]: Simplify phi1 into phi1 15.341 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.341 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.341 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.341 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.341 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.342 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.342 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.342 * [backup-simplify]: Simplify 0.5 into 0.5 15.342 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.342 * [backup-simplify]: Simplify phi2 into phi2 15.342 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.342 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.342 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.342 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.342 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.342 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.342 * [backup-simplify]: Simplify 0.5 into 0.5 15.342 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.342 * [backup-simplify]: Simplify phi2 into phi2 15.342 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.342 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.342 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.343 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.343 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.343 * [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)) 15.343 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.343 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.344 * [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)) 15.345 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 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))) 15.345 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.345 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.345 * [backup-simplify]: Simplify (- 0) into 0 15.345 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.346 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.346 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.346 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.346 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.346 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.346 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.346 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.346 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.347 * [backup-simplify]: Simplify (- 0) into 0 15.347 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.347 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.347 * [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)))) 15.348 * [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))))) 15.348 * [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)))))) 15.349 * [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))))))) 15.350 * [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))))))) 15.351 * [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)))))))) 15.352 * [backup-simplify]: Simplify (+ 0) into 0 15.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.353 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.355 * [backup-simplify]: Simplify (+ 0 0) into 0 15.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.355 * [backup-simplify]: Simplify (+ 0) into 0 15.356 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.356 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.357 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.357 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.358 * [backup-simplify]: Simplify (+ 0 0) into 0 15.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.358 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.359 * [backup-simplify]: Simplify (+ 0) into 0 15.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.360 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.360 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.361 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.361 * [backup-simplify]: Simplify (- 0) into 0 15.362 * [backup-simplify]: Simplify (+ 0 0) into 0 15.362 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.362 * [backup-simplify]: Simplify (+ 0) into 0 15.363 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.363 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.364 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.365 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.365 * [backup-simplify]: Simplify (- 0) into 0 15.366 * [backup-simplify]: Simplify (+ 0 0) into 0 15.366 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.366 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.367 * [backup-simplify]: Simplify (+ 0 0) into 0 15.367 * [backup-simplify]: Simplify (+ 0) into 0 15.368 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.368 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.369 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.370 * [backup-simplify]: Simplify (- 0) into 0 15.370 * [backup-simplify]: Simplify (+ 0 0) into 0 15.370 * [backup-simplify]: Simplify (+ 0) into 0 15.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.371 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.373 * [backup-simplify]: Simplify (+ 0 0) into 0 15.373 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.373 * [backup-simplify]: Simplify (+ 0) into 0 15.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.374 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.376 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.376 * [backup-simplify]: Simplify (+ 0 0) into 0 15.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.377 * [backup-simplify]: Simplify (+ 0) into 0 15.377 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.377 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.379 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.379 * [backup-simplify]: Simplify (- 0) into 0 15.379 * [backup-simplify]: Simplify (+ 0 0) into 0 15.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.381 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.381 * [backup-simplify]: Simplify (- 0) into 0 15.381 * [backup-simplify]: Simplify (+ 0 0) into 0 15.383 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 15.390 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 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))))))))))) R) (+ (* (* (/ 1 R) (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))))))))) (/ 0 R)))) into (- (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R 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))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 R)) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 R)) (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)))))))))))) 15.390 * [taylor]: Taking taylor expansion of (- (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R 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))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 R)) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) in lambda2 15.390 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R 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))))))))))) in lambda2 15.390 * [taylor]: Taking taylor expansion of 2 in lambda2 15.390 * [backup-simplify]: Simplify 2 into 2 15.390 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R 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)))))))))) in lambda2 15.390 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R lambda2)) in lambda2 15.390 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.390 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.390 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.390 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.391 * [backup-simplify]: Simplify 0.5 into 0.5 15.391 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.391 * [backup-simplify]: Simplify phi1 into phi1 15.391 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.391 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.391 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.391 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.391 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.391 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.391 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.391 * [backup-simplify]: Simplify 0.5 into 0.5 15.391 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.391 * [backup-simplify]: Simplify phi1 into phi1 15.391 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.391 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.391 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.391 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.391 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.391 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.391 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.391 * [backup-simplify]: Simplify 0.5 into 0.5 15.392 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.392 * [backup-simplify]: Simplify phi2 into phi2 15.392 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.392 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.392 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.392 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.392 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.392 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.392 * [backup-simplify]: Simplify 0.5 into 0.5 15.392 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.392 * [backup-simplify]: Simplify phi2 into phi2 15.392 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.392 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.392 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.392 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2 15.392 * [taylor]: Taking taylor expansion of R in lambda2 15.392 * [backup-simplify]: Simplify R into R 15.392 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.392 * [backup-simplify]: Simplify 0 into 0 15.392 * [backup-simplify]: Simplify 1 into 1 15.392 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.392 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.392 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) 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 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.393 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.393 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.393 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.393 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.394 * [backup-simplify]: Simplify (- 0) into 0 15.394 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.394 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.394 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 15.394 * [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))))) 15.394 * [backup-simplify]: Simplify (* R 0) into 0 15.395 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 15.395 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 15.395 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda2 15.395 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda2 15.395 * [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 15.395 * [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 15.395 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.395 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.395 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.395 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.395 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.395 * [backup-simplify]: Simplify 0.5 into 0.5 15.395 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 lambda2 15.395 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.395 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.395 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.395 * [backup-simplify]: Simplify 0.5 into 0.5 15.395 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.396 * [backup-simplify]: Simplify phi2 into phi2 15.396 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.396 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.396 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.396 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.396 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.396 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.396 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.396 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.396 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.396 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.396 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.396 * [backup-simplify]: Simplify 0.5 into 0.5 15.396 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.396 * [backup-simplify]: Simplify phi1 into phi1 15.396 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.396 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.396 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.396 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.396 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.397 * [backup-simplify]: Simplify (- 0) into 0 15.397 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.397 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.397 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.397 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.397 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.397 * [backup-simplify]: Simplify 0.5 into 0.5 15.397 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.397 * [backup-simplify]: Simplify phi2 into phi2 15.397 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.397 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.397 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.397 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.397 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.397 * [backup-simplify]: Simplify (- 0) into 0 15.397 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.397 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 15.397 * [taylor]: Taking taylor expansion of 2 in lambda2 15.397 * [backup-simplify]: Simplify 2 into 2 15.397 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.398 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.398 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.398 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.398 * [backup-simplify]: Simplify 0.5 into 0.5 15.398 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.398 * [backup-simplify]: Simplify phi1 into phi1 15.398 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.398 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.398 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.398 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.398 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.398 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.398 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.398 * [backup-simplify]: Simplify 0.5 into 0.5 15.398 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.398 * [backup-simplify]: Simplify phi1 into phi1 15.398 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.398 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.398 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.398 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.398 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.398 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.398 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.398 * [backup-simplify]: Simplify 0.5 into 0.5 15.398 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.398 * [backup-simplify]: Simplify phi2 into phi2 15.398 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.398 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.398 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.398 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.398 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.398 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.398 * [backup-simplify]: Simplify 0.5 into 0.5 15.398 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.398 * [backup-simplify]: Simplify phi2 into phi2 15.398 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.398 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.399 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.399 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.399 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.399 * [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)) 15.399 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.399 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.399 * [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)) 15.400 * [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))) 15.400 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.400 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.400 * [backup-simplify]: Simplify (- 0) into 0 15.400 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.400 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.401 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.401 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.401 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.401 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.401 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.401 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.401 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.401 * [backup-simplify]: Simplify (- 0) into 0 15.401 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.401 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.401 * [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)))) 15.402 * [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))))) 15.402 * [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)))))) 15.402 * [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))))))) 15.403 * [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))))))) 15.404 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 15.404 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 15.405 * [backup-simplify]: Simplify (+ 0) into 0 15.405 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.405 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.406 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.406 * [backup-simplify]: Simplify (+ 0 0) into 0 15.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.407 * [backup-simplify]: Simplify (+ 0) into 0 15.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.407 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.409 * [backup-simplify]: Simplify (+ 0 0) into 0 15.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.409 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.410 * [backup-simplify]: Simplify (+ 0) into 0 15.410 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.410 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.412 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.412 * [backup-simplify]: Simplify (- 0) into 0 15.412 * [backup-simplify]: Simplify (+ 0 0) into 0 15.413 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.413 * [backup-simplify]: Simplify (+ 0) into 0 15.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.414 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.415 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.415 * [backup-simplify]: Simplify (- 0) into 0 15.416 * [backup-simplify]: Simplify (+ 0 0) into 0 15.416 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.416 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.417 * [backup-simplify]: Simplify (+ 0 0) into 0 15.417 * [backup-simplify]: Simplify (+ 0) into 0 15.418 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.418 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.420 * [backup-simplify]: Simplify (- 0) into 0 15.420 * [backup-simplify]: Simplify (+ 0 0) into 0 15.421 * [backup-simplify]: Simplify (+ 0) into 0 15.421 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.421 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.423 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.423 * [backup-simplify]: Simplify (+ 0 0) into 0 15.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.424 * [backup-simplify]: Simplify (+ 0) into 0 15.424 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.424 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.426 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.426 * [backup-simplify]: Simplify (+ 0 0) into 0 15.427 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.427 * [backup-simplify]: Simplify (+ 0) into 0 15.428 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.428 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.430 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.430 * [backup-simplify]: Simplify (- 0) into 0 15.430 * [backup-simplify]: Simplify (+ 0 0) into 0 15.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.432 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.432 * [backup-simplify]: Simplify (- 0) into 0 15.433 * [backup-simplify]: Simplify (+ 0 0) into 0 15.436 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.437 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.437 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 R)) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in lambda2 15.437 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda2 15.437 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 R)) in lambda2 15.437 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.437 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.437 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.437 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.437 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.437 * [backup-simplify]: Simplify 0.5 into 0.5 15.437 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.437 * [backup-simplify]: Simplify phi1 into phi1 15.437 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.437 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.437 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.437 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.438 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.438 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.438 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.438 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.438 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.438 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.438 * [backup-simplify]: Simplify 0.5 into 0.5 15.438 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.438 * [backup-simplify]: Simplify phi2 into phi2 15.438 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.438 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.438 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.438 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.438 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.438 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.438 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2 15.438 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.438 * [backup-simplify]: Simplify 0 into 0 15.438 * [backup-simplify]: Simplify 1 into 1 15.438 * [taylor]: Taking taylor expansion of R in lambda2 15.438 * [backup-simplify]: Simplify R into R 15.438 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.438 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.439 * [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)) 15.439 * [backup-simplify]: Simplify (* 0 R) into 0 15.439 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 15.439 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 15.439 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda2 15.439 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda2 15.439 * [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 15.439 * [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 15.439 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.439 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.439 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.439 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.439 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.439 * [backup-simplify]: Simplify 0.5 into 0.5 15.440 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.440 * [backup-simplify]: Simplify phi1 into phi1 15.440 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.440 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.440 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.440 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.440 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.440 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.440 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.440 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.440 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.440 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.440 * [backup-simplify]: Simplify 0.5 into 0.5 15.440 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.440 * [backup-simplify]: Simplify phi2 into phi2 15.440 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.440 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.440 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.440 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.440 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.440 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.440 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.440 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.440 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.440 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.440 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.440 * [backup-simplify]: Simplify 0.5 into 0.5 15.440 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.440 * [backup-simplify]: Simplify phi1 into phi1 15.441 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.441 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.441 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.441 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.441 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.441 * [backup-simplify]: Simplify (- 0) into 0 15.441 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.441 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.441 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.441 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.441 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.441 * [backup-simplify]: Simplify 0.5 into 0.5 15.441 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.441 * [backup-simplify]: Simplify phi2 into phi2 15.441 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.441 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.441 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.441 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.442 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.442 * [backup-simplify]: Simplify (- 0) into 0 15.442 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.442 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 15.442 * [taylor]: Taking taylor expansion of 2 in lambda2 15.442 * [backup-simplify]: Simplify 2 into 2 15.442 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.442 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.442 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.442 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.442 * [backup-simplify]: Simplify 0.5 into 0.5 15.442 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.442 * [backup-simplify]: Simplify phi1 into phi1 15.442 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.442 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.442 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.442 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.442 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.442 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.442 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.442 * [backup-simplify]: Simplify 0.5 into 0.5 15.442 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.442 * [backup-simplify]: Simplify phi1 into phi1 15.442 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.442 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.443 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.443 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.443 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.443 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.443 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.443 * [backup-simplify]: Simplify 0.5 into 0.5 15.443 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.443 * [backup-simplify]: Simplify phi2 into phi2 15.443 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.443 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.443 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.443 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.443 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.443 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.443 * [backup-simplify]: Simplify 0.5 into 0.5 15.443 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.443 * [backup-simplify]: Simplify phi2 into phi2 15.443 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.443 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.443 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.443 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.443 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.443 * [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)) 15.444 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.444 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.444 * [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)) 15.444 * [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))) 15.444 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.444 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.445 * [backup-simplify]: Simplify (- 0) into 0 15.445 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.445 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.445 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.445 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.445 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.445 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.445 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.445 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.445 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.446 * [backup-simplify]: Simplify (- 0) into 0 15.446 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.446 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.446 * [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)))) 15.446 * [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))))) 15.446 * [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)))))) 15.447 * [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))))))) 15.447 * [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))))))) 15.448 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 15.449 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 15.449 * [backup-simplify]: Simplify (+ 0) into 0 15.450 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.450 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.450 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.451 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.451 * [backup-simplify]: Simplify (+ 0 0) into 0 15.451 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.451 * [backup-simplify]: Simplify (+ 0) into 0 15.452 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.452 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.453 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.453 * [backup-simplify]: Simplify (+ 0 0) into 0 15.453 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.453 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.454 * [backup-simplify]: Simplify (+ 0) into 0 15.454 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.454 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.455 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.455 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.455 * [backup-simplify]: Simplify (- 0) into 0 15.455 * [backup-simplify]: Simplify (+ 0 0) into 0 15.455 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.456 * [backup-simplify]: Simplify (+ 0) into 0 15.456 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.456 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.457 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.457 * [backup-simplify]: Simplify (- 0) into 0 15.458 * [backup-simplify]: Simplify (+ 0 0) into 0 15.458 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.458 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.458 * [backup-simplify]: Simplify (+ 0 0) into 0 15.459 * [backup-simplify]: Simplify (+ 0) into 0 15.459 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.459 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.460 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.460 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.460 * [backup-simplify]: Simplify (- 0) into 0 15.460 * [backup-simplify]: Simplify (+ 0 0) into 0 15.461 * [backup-simplify]: Simplify (+ 0) into 0 15.461 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.461 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.466 * [backup-simplify]: Simplify (+ 0 0) into 0 15.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.466 * [backup-simplify]: Simplify (+ 0) into 0 15.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.466 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.467 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.468 * [backup-simplify]: Simplify (+ 0 0) into 0 15.468 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.468 * [backup-simplify]: Simplify (+ 0) into 0 15.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.468 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.469 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.469 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.469 * [backup-simplify]: Simplify (- 0) into 0 15.470 * [backup-simplify]: Simplify (+ 0 0) into 0 15.470 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.470 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.471 * [backup-simplify]: Simplify (- 0) into 0 15.471 * [backup-simplify]: Simplify (+ 0 0) into 0 15.473 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.475 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.475 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda2 15.475 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 R)) in lambda2 15.475 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.475 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.475 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.475 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.475 * [backup-simplify]: Simplify 0.5 into 0.5 15.475 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.475 * [backup-simplify]: Simplify phi1 into phi1 15.475 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.475 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.476 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.476 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.476 * [backup-simplify]: Simplify (- 0) into 0 15.476 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.477 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.477 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.477 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.477 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.477 * [backup-simplify]: Simplify 0.5 into 0.5 15.477 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.477 * [backup-simplify]: Simplify phi2 into phi2 15.477 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.477 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.477 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.477 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.477 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.478 * [backup-simplify]: Simplify (- 0) into 0 15.478 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.478 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2 15.478 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.478 * [backup-simplify]: Simplify 0 into 0 15.478 * [backup-simplify]: Simplify 1 into 1 15.478 * [taylor]: Taking taylor expansion of R in lambda2 15.478 * [backup-simplify]: Simplify R into R 15.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.479 * [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)) 15.479 * [backup-simplify]: Simplify (* 0 R) into 0 15.479 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 15.480 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 15.480 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda2 15.480 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda2 15.480 * [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 15.480 * [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 15.480 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.480 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.480 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.480 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.480 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.480 * [backup-simplify]: Simplify 0.5 into 0.5 15.480 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.480 * [backup-simplify]: Simplify phi1 into phi1 15.480 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.480 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.480 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.480 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.481 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.481 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.481 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.481 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.481 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.481 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.481 * [backup-simplify]: Simplify 0.5 into 0.5 15.481 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.481 * [backup-simplify]: Simplify phi2 into phi2 15.481 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.481 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.481 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.481 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.481 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.482 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.482 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.482 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.482 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.482 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.482 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.482 * [backup-simplify]: Simplify 0.5 into 0.5 15.482 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.482 * [backup-simplify]: Simplify phi1 into phi1 15.482 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.482 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.482 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.482 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.482 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.483 * [backup-simplify]: Simplify (- 0) into 0 15.483 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.483 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.483 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.483 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.483 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.483 * [backup-simplify]: Simplify 0.5 into 0.5 15.483 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.483 * [backup-simplify]: Simplify phi2 into phi2 15.483 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.483 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.483 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.483 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.484 * [backup-simplify]: Simplify (- 0) into 0 15.484 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.484 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 15.484 * [taylor]: Taking taylor expansion of 2 in lambda2 15.484 * [backup-simplify]: Simplify 2 into 2 15.484 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.484 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.484 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.484 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.484 * [backup-simplify]: Simplify 0.5 into 0.5 15.484 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.485 * [backup-simplify]: Simplify phi1 into phi1 15.485 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.485 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.485 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.485 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.485 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.485 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.485 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.485 * [backup-simplify]: Simplify 0.5 into 0.5 15.485 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.485 * [backup-simplify]: Simplify phi1 into phi1 15.485 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.485 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.485 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.485 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.485 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.485 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.485 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.485 * [backup-simplify]: Simplify 0.5 into 0.5 15.485 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.485 * [backup-simplify]: Simplify phi2 into phi2 15.486 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.486 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.486 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.486 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.486 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.486 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.486 * [backup-simplify]: Simplify 0.5 into 0.5 15.486 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.486 * [backup-simplify]: Simplify phi2 into phi2 15.486 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.486 * [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)) 15.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.487 * [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)) 15.487 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.488 * [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 (+ (* (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))) 15.489 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.489 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.490 * [backup-simplify]: Simplify (- 0) into 0 15.490 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.490 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.490 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.490 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.490 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.490 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.491 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.491 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.491 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.491 * [backup-simplify]: Simplify (- 0) into 0 15.491 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.492 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.492 * [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)))) 15.493 * [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))))) 15.493 * [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)))))) 15.493 * [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))))))) 15.495 * [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))))))) 15.497 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 15.498 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 15.499 * [backup-simplify]: Simplify (+ 0) into 0 15.499 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.500 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.501 * [backup-simplify]: Simplify (+ 0 0) into 0 15.502 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.502 * [backup-simplify]: Simplify (+ 0) into 0 15.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.503 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.504 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.505 * [backup-simplify]: Simplify (+ 0 0) into 0 15.505 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.505 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.506 * [backup-simplify]: Simplify (+ 0) into 0 15.506 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.507 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.508 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.508 * [backup-simplify]: Simplify (- 0) into 0 15.509 * [backup-simplify]: Simplify (+ 0 0) into 0 15.509 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.509 * [backup-simplify]: Simplify (+ 0) into 0 15.510 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.510 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.511 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.511 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.512 * [backup-simplify]: Simplify (- 0) into 0 15.512 * [backup-simplify]: Simplify (+ 0 0) into 0 15.512 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.513 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.513 * [backup-simplify]: Simplify (+ 0 0) into 0 15.514 * [backup-simplify]: Simplify (+ 0) into 0 15.514 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.514 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.516 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.516 * [backup-simplify]: Simplify (- 0) into 0 15.516 * [backup-simplify]: Simplify (+ 0 0) into 0 15.517 * [backup-simplify]: Simplify (+ 0) into 0 15.517 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.518 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.519 * [backup-simplify]: Simplify (+ 0 0) into 0 15.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.520 * [backup-simplify]: Simplify (+ 0) into 0 15.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.521 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.522 * [backup-simplify]: Simplify (+ 0 0) into 0 15.523 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.523 * [backup-simplify]: Simplify (+ 0) into 0 15.524 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.526 * [backup-simplify]: Simplify (- 0) into 0 15.526 * [backup-simplify]: Simplify (+ 0 0) into 0 15.526 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.527 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.528 * [backup-simplify]: Simplify (- 0) into 0 15.528 * [backup-simplify]: Simplify (+ 0 0) into 0 15.531 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.533 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.535 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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)))))))))) 15.538 * [backup-simplify]: Simplify (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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))))))))))) 15.540 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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)))))))))) 15.542 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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)))))))))) 15.547 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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))))))))))) 15.552 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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)))))))))))) 15.560 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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 (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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 (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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)))))))))))) 15.560 * [taylor]: Taking taylor expansion of (- (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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 (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) in phi2 15.560 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2 15.560 * [taylor]: Taking taylor expansion of 2 in phi2 15.561 * [backup-simplify]: Simplify 2 into 2 15.561 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2 15.561 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) in phi2 15.561 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 15.561 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.561 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.561 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.561 * [backup-simplify]: Simplify 0.5 into 0.5 15.561 * [taylor]: Taking taylor expansion of phi1 in phi2 15.561 * [backup-simplify]: Simplify phi1 into phi1 15.561 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.561 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.561 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.561 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 15.561 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.561 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.561 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.561 * [backup-simplify]: Simplify 0.5 into 0.5 15.561 * [taylor]: Taking taylor expansion of phi1 in phi2 15.561 * [backup-simplify]: Simplify phi1 into phi1 15.561 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.562 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.562 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.562 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 15.562 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.562 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.562 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.562 * [backup-simplify]: Simplify 0.5 into 0.5 15.562 * [taylor]: Taking taylor expansion of phi2 in phi2 15.562 * [backup-simplify]: Simplify 0 into 0 15.562 * [backup-simplify]: Simplify 1 into 1 15.563 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.563 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.563 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.563 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.563 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.563 * [backup-simplify]: Simplify 0.5 into 0.5 15.563 * [taylor]: Taking taylor expansion of phi2 in phi2 15.563 * [backup-simplify]: Simplify 0 into 0 15.563 * [backup-simplify]: Simplify 1 into 1 15.563 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.563 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.563 * [taylor]: Taking taylor expansion of R in phi2 15.563 * [backup-simplify]: Simplify R into R 15.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.564 * [backup-simplify]: Simplify (- 0) into 0 15.564 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.564 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.564 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.565 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.565 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.565 * [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)))) 15.565 * [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))))) 15.566 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 15.566 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 15.566 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 15.566 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 15.566 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 15.566 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 15.566 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 15.566 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.566 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.566 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.566 * [backup-simplify]: Simplify 0.5 into 0.5 15.566 * [taylor]: Taking taylor expansion of phi1 in phi2 15.566 * [backup-simplify]: Simplify phi1 into phi1 15.566 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.567 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.567 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.567 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.567 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.567 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.567 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 15.567 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.567 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.567 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.567 * [backup-simplify]: Simplify 0.5 into 0.5 15.567 * [taylor]: Taking taylor expansion of phi2 in phi2 15.567 * [backup-simplify]: Simplify 0 into 0 15.567 * [backup-simplify]: Simplify 1 into 1 15.568 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.568 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.568 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 15.568 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 15.568 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.568 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.568 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.568 * [backup-simplify]: Simplify 0.5 into 0.5 15.568 * [taylor]: Taking taylor expansion of phi1 in phi2 15.568 * [backup-simplify]: Simplify phi1 into phi1 15.568 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.568 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.569 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.569 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.569 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.569 * [backup-simplify]: Simplify (- 0) into 0 15.569 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.570 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 15.570 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.570 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.570 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.570 * [backup-simplify]: Simplify 0.5 into 0.5 15.570 * [taylor]: Taking taylor expansion of phi2 in phi2 15.570 * [backup-simplify]: Simplify 0 into 0 15.570 * [backup-simplify]: Simplify 1 into 1 15.570 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.571 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 15.571 * [taylor]: Taking taylor expansion of 2 in phi2 15.571 * [backup-simplify]: Simplify 2 into 2 15.571 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 15.571 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.571 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.571 * [backup-simplify]: Simplify 0.5 into 0.5 15.571 * [taylor]: Taking taylor expansion of phi1 in phi2 15.571 * [backup-simplify]: Simplify phi1 into phi1 15.571 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.571 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.571 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 15.571 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.571 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.571 * [backup-simplify]: Simplify 0.5 into 0.5 15.571 * [taylor]: Taking taylor expansion of phi1 in phi2 15.571 * [backup-simplify]: Simplify phi1 into phi1 15.571 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.572 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.572 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.572 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 15.572 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.572 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.572 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.572 * [backup-simplify]: Simplify 0.5 into 0.5 15.572 * [taylor]: Taking taylor expansion of phi2 in phi2 15.572 * [backup-simplify]: Simplify 0 into 0 15.572 * [backup-simplify]: Simplify 1 into 1 15.572 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.573 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.573 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.573 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.573 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.573 * [backup-simplify]: Simplify 0.5 into 0.5 15.573 * [taylor]: Taking taylor expansion of phi2 in phi2 15.573 * [backup-simplify]: Simplify 0 into 0 15.573 * [backup-simplify]: Simplify 1 into 1 15.573 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.573 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.574 * [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)) 15.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.574 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.575 * [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)) 15.576 * [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))) 15.576 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.576 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.576 * [backup-simplify]: Simplify (- 0) into 0 15.577 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.577 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.577 * [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)))) 15.578 * [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))))) 15.578 * [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)))))) 15.578 * [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))))))) 15.580 * [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))))))) 15.581 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 15.582 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 15.582 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.582 * [backup-simplify]: Simplify (+ 0) into 0 15.583 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.583 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.583 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.584 * [backup-simplify]: Simplify (+ 0 0) into 0 15.584 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.584 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.584 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.585 * [backup-simplify]: Simplify (+ 0) into 0 15.585 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.586 * [backup-simplify]: Simplify (- 0) into 0 15.586 * [backup-simplify]: Simplify (+ 0 0) into 0 15.586 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.587 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.587 * [backup-simplify]: Simplify (+ 0 0) into 0 15.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.587 * [backup-simplify]: Simplify (+ 0) into 0 15.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.588 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.589 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.589 * [backup-simplify]: Simplify (+ 0 0) into 0 15.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.589 * [backup-simplify]: Simplify (+ 0) into 0 15.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.590 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.591 * [backup-simplify]: Simplify (- 0) into 0 15.591 * [backup-simplify]: Simplify (+ 0 0) into 0 15.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.592 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.592 * [backup-simplify]: Simplify (- 0) into 0 15.592 * [backup-simplify]: Simplify (+ 0 0) into 0 15.594 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.595 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.595 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2 15.595 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2 15.595 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) in phi2 15.595 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 15.595 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 15.595 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.595 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.595 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.595 * [backup-simplify]: Simplify 0.5 into 0.5 15.595 * [taylor]: Taking taylor expansion of phi1 in phi2 15.595 * [backup-simplify]: Simplify phi1 into phi1 15.595 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.595 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.595 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.595 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.595 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.595 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.595 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 15.595 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.595 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.595 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.595 * [backup-simplify]: Simplify 0.5 into 0.5 15.595 * [taylor]: Taking taylor expansion of phi2 in phi2 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 (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.596 * [taylor]: Taking taylor expansion of R in phi2 15.596 * [backup-simplify]: Simplify R into R 15.596 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.596 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.597 * [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)) 15.597 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 15.597 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 15.597 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 15.597 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 15.597 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 15.597 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 15.597 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 15.597 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.597 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.597 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.597 * [backup-simplify]: Simplify 0.5 into 0.5 15.597 * [taylor]: Taking taylor expansion of phi1 in phi2 15.597 * [backup-simplify]: Simplify phi1 into phi1 15.597 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.597 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.597 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.597 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.597 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.597 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.597 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 15.597 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.598 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.598 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.598 * [backup-simplify]: Simplify 0.5 into 0.5 15.598 * [taylor]: Taking taylor expansion of phi2 in phi2 15.598 * [backup-simplify]: Simplify 0 into 0 15.598 * [backup-simplify]: Simplify 1 into 1 15.598 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.598 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.598 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 15.598 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 15.598 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.598 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.598 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.598 * [backup-simplify]: Simplify 0.5 into 0.5 15.598 * [taylor]: Taking taylor expansion of phi1 in phi2 15.598 * [backup-simplify]: Simplify phi1 into phi1 15.598 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.598 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.598 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.598 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.598 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.599 * [backup-simplify]: Simplify (- 0) into 0 15.599 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.599 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 15.599 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.599 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.599 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.599 * [backup-simplify]: Simplify 0.5 into 0.5 15.599 * [taylor]: Taking taylor expansion of phi2 in phi2 15.599 * [backup-simplify]: Simplify 0 into 0 15.599 * [backup-simplify]: Simplify 1 into 1 15.599 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.599 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.599 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 15.599 * [taylor]: Taking taylor expansion of 2 in phi2 15.599 * [backup-simplify]: Simplify 2 into 2 15.599 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 15.599 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.599 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.599 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.599 * [backup-simplify]: Simplify 0.5 into 0.5 15.599 * [taylor]: Taking taylor expansion of phi1 in phi2 15.599 * [backup-simplify]: Simplify phi1 into phi1 15.600 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.600 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.600 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.600 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 15.600 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.600 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.600 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.600 * [backup-simplify]: Simplify 0.5 into 0.5 15.600 * [taylor]: Taking taylor expansion of phi1 in phi2 15.600 * [backup-simplify]: Simplify phi1 into phi1 15.600 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.600 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.600 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.600 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 15.600 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.600 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.600 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.600 * [backup-simplify]: Simplify 0.5 into 0.5 15.600 * [taylor]: Taking taylor expansion of phi2 in phi2 15.600 * [backup-simplify]: Simplify 0 into 0 15.600 * [backup-simplify]: Simplify 1 into 1 15.600 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.600 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.600 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.600 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.600 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.601 * [backup-simplify]: Simplify 0.5 into 0.5 15.601 * [taylor]: Taking taylor expansion of phi2 in phi2 15.601 * [backup-simplify]: Simplify 0 into 0 15.601 * [backup-simplify]: Simplify 1 into 1 15.601 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.601 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.601 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.601 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.601 * [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)) 15.601 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.602 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.602 * [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)) 15.602 * [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))) 15.602 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.602 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.603 * [backup-simplify]: Simplify (- 0) into 0 15.603 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.603 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.603 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.603 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.603 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.603 * [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)))) 15.603 * [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))))) 15.604 * [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)))))) 15.604 * [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))))))) 15.605 * [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))))))) 15.607 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 15.608 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 15.608 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.609 * [backup-simplify]: Simplify (+ 0) into 0 15.610 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.610 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.611 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.611 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.611 * [backup-simplify]: Simplify (+ 0 0) into 0 15.612 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.612 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.612 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.613 * [backup-simplify]: Simplify (+ 0) into 0 15.613 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.614 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.614 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.615 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.615 * [backup-simplify]: Simplify (- 0) into 0 15.616 * [backup-simplify]: Simplify (+ 0 0) into 0 15.616 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.616 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.617 * [backup-simplify]: Simplify (+ 0 0) into 0 15.617 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.617 * [backup-simplify]: Simplify (+ 0) into 0 15.618 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.618 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.619 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.619 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.620 * [backup-simplify]: Simplify (+ 0 0) into 0 15.620 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.621 * [backup-simplify]: Simplify (+ 0) into 0 15.621 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.622 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.623 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.623 * [backup-simplify]: Simplify (- 0) into 0 15.624 * [backup-simplify]: Simplify (+ 0 0) into 0 15.624 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.625 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.625 * [backup-simplify]: Simplify (- 0) into 0 15.626 * [backup-simplify]: Simplify (+ 0 0) into 0 15.629 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.631 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.631 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2 15.631 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) in phi2 15.631 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 15.631 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 15.631 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.631 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.632 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.632 * [backup-simplify]: Simplify 0.5 into 0.5 15.632 * [taylor]: Taking taylor expansion of phi1 in phi2 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 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.632 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.637 * [backup-simplify]: Simplify (- 0) into 0 15.637 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.637 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 15.637 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.637 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.637 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.637 * [backup-simplify]: Simplify 0.5 into 0.5 15.637 * [taylor]: Taking taylor expansion of phi2 in phi2 15.637 * [backup-simplify]: Simplify 0 into 0 15.637 * [backup-simplify]: Simplify 1 into 1 15.638 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.638 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.638 * [taylor]: Taking taylor expansion of R in phi2 15.638 * [backup-simplify]: Simplify R into R 15.639 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.639 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.639 * [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)) 15.639 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 15.640 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 15.640 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 15.640 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 15.640 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 15.640 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 15.640 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 15.640 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.640 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.640 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.640 * [backup-simplify]: Simplify 0.5 into 0.5 15.640 * [taylor]: Taking taylor expansion of phi1 in phi2 15.640 * [backup-simplify]: Simplify phi1 into phi1 15.640 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.640 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.640 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.640 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.640 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.641 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.641 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 15.641 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.641 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.641 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.641 * [backup-simplify]: Simplify 0.5 into 0.5 15.641 * [taylor]: Taking taylor expansion of phi2 in phi2 15.641 * [backup-simplify]: Simplify 0 into 0 15.641 * [backup-simplify]: Simplify 1 into 1 15.641 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.642 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.642 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 15.642 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 15.642 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.642 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.642 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.642 * [backup-simplify]: Simplify 0.5 into 0.5 15.642 * [taylor]: Taking taylor expansion of phi1 in phi2 15.642 * [backup-simplify]: Simplify phi1 into phi1 15.642 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.642 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.642 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.642 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.642 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.643 * [backup-simplify]: Simplify (- 0) into 0 15.643 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.643 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 15.643 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.643 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.643 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.643 * [backup-simplify]: Simplify 0.5 into 0.5 15.643 * [taylor]: Taking taylor expansion of phi2 in phi2 15.643 * [backup-simplify]: Simplify 0 into 0 15.643 * [backup-simplify]: Simplify 1 into 1 15.643 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.644 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.644 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 15.644 * [taylor]: Taking taylor expansion of 2 in phi2 15.644 * [backup-simplify]: Simplify 2 into 2 15.644 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 15.644 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.644 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.644 * [backup-simplify]: Simplify 0.5 into 0.5 15.644 * [taylor]: Taking taylor expansion of phi1 in phi2 15.644 * [backup-simplify]: Simplify phi1 into phi1 15.644 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.644 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.644 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.644 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 15.644 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.644 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.644 * [backup-simplify]: Simplify 0.5 into 0.5 15.644 * [taylor]: Taking taylor expansion of phi1 in phi2 15.644 * [backup-simplify]: Simplify phi1 into phi1 15.644 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.644 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.645 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.645 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 15.645 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.645 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.645 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.645 * [backup-simplify]: Simplify 0.5 into 0.5 15.645 * [taylor]: Taking taylor expansion of phi2 in phi2 15.645 * [backup-simplify]: Simplify 0 into 0 15.645 * [backup-simplify]: Simplify 1 into 1 15.645 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.645 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.645 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.646 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.646 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.646 * [backup-simplify]: Simplify 0.5 into 0.5 15.646 * [taylor]: Taking taylor expansion of phi2 in phi2 15.646 * [backup-simplify]: Simplify 0 into 0 15.646 * [backup-simplify]: Simplify 1 into 1 15.646 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.646 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.646 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.647 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.647 * [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)) 15.647 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.648 * [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)) 15.649 * [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))) 15.649 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.650 * [backup-simplify]: Simplify (- 0) into 0 15.650 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.650 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.650 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.650 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.651 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.651 * [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)))) 15.651 * [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))))) 15.652 * [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)))))) 15.652 * [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))))))) 15.654 * [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))))))) 15.655 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 15.657 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 15.657 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.658 * [backup-simplify]: Simplify (+ 0) into 0 15.658 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.659 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.660 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.660 * [backup-simplify]: Simplify (+ 0 0) into 0 15.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.661 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.661 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.662 * [backup-simplify]: Simplify (+ 0) into 0 15.662 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.663 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.664 * [backup-simplify]: Simplify (- 0) into 0 15.665 * [backup-simplify]: Simplify (+ 0 0) into 0 15.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.665 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.666 * [backup-simplify]: Simplify (+ 0 0) into 0 15.666 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.666 * [backup-simplify]: Simplify (+ 0) into 0 15.667 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.667 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.668 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.669 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.669 * [backup-simplify]: Simplify (+ 0 0) into 0 15.669 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.670 * [backup-simplify]: Simplify (+ 0) into 0 15.670 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.671 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.671 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.672 * [backup-simplify]: Simplify (- 0) into 0 15.673 * [backup-simplify]: Simplify (+ 0 0) into 0 15.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.674 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.674 * [backup-simplify]: Simplify (- 0) into 0 15.675 * [backup-simplify]: Simplify (+ 0 0) into 0 15.678 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.680 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.681 * [backup-simplify]: Simplify (* (/ 1 R) (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)))))))) (/ 1 R)) 15.682 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 1 R)) in phi2 15.682 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 15.682 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 15.682 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 15.682 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 15.682 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 15.682 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.682 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.682 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.682 * [backup-simplify]: Simplify 0.5 into 0.5 15.682 * [taylor]: Taking taylor expansion of phi1 in phi2 15.682 * [backup-simplify]: Simplify phi1 into phi1 15.682 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.682 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.682 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.682 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.682 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.683 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.683 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 15.683 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.683 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.683 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.683 * [backup-simplify]: Simplify 0.5 into 0.5 15.683 * [taylor]: Taking taylor expansion of phi2 in phi2 15.683 * [backup-simplify]: Simplify 0 into 0 15.683 * [backup-simplify]: Simplify 1 into 1 15.683 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.684 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.684 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 15.684 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 15.684 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.684 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.684 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.684 * [backup-simplify]: Simplify 0.5 into 0.5 15.684 * [taylor]: Taking taylor expansion of phi1 in phi2 15.684 * [backup-simplify]: Simplify phi1 into phi1 15.684 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.684 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.684 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.684 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.684 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.684 * [backup-simplify]: Simplify (- 0) into 0 15.685 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.685 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 15.685 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.685 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.685 * [backup-simplify]: Simplify 0.5 into 0.5 15.685 * [taylor]: Taking taylor expansion of phi2 in phi2 15.685 * [backup-simplify]: Simplify 0 into 0 15.685 * [backup-simplify]: Simplify 1 into 1 15.685 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.685 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 15.685 * [taylor]: Taking taylor expansion of 2 in phi2 15.685 * [backup-simplify]: Simplify 2 into 2 15.685 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 15.685 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 15.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.685 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.685 * [backup-simplify]: Simplify 0.5 into 0.5 15.685 * [taylor]: Taking taylor expansion of phi1 in phi2 15.685 * [backup-simplify]: Simplify phi1 into phi1 15.685 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.685 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 15.685 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 15.686 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 15.686 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.686 * [backup-simplify]: Simplify 0.5 into 0.5 15.686 * [taylor]: Taking taylor expansion of phi1 in phi2 15.686 * [backup-simplify]: Simplify phi1 into phi1 15.686 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.686 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.686 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.686 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 15.686 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 15.686 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.686 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.686 * [backup-simplify]: Simplify 0.5 into 0.5 15.686 * [taylor]: Taking taylor expansion of phi2 in phi2 15.686 * [backup-simplify]: Simplify 0 into 0 15.686 * [backup-simplify]: Simplify 1 into 1 15.686 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.686 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.686 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 15.686 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 15.686 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.686 * [backup-simplify]: Simplify 0.5 into 0.5 15.686 * [taylor]: Taking taylor expansion of phi2 in phi2 15.686 * [backup-simplify]: Simplify 0 into 0 15.686 * [backup-simplify]: Simplify 1 into 1 15.687 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 15.687 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.687 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.687 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.687 * [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)) 15.687 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.687 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.688 * [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)) 15.688 * [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))) 15.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.688 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.688 * [backup-simplify]: Simplify (- 0) into 0 15.689 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.689 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.689 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.689 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.689 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.689 * [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)))) 15.689 * [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))))) 15.689 * [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)))))) 15.690 * [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))))))) 15.690 * [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))))))) 15.691 * [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)))))))) 15.691 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.692 * [backup-simplify]: Simplify (+ 0) into 0 15.692 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.692 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.693 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.693 * [backup-simplify]: Simplify (+ 0 0) into 0 15.693 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.694 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.694 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.694 * [backup-simplify]: Simplify (+ 0) into 0 15.694 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.695 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.695 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.696 * [backup-simplify]: Simplify (- 0) into 0 15.696 * [backup-simplify]: Simplify (+ 0 0) into 0 15.696 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.696 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.697 * [backup-simplify]: Simplify (+ 0 0) into 0 15.697 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.697 * [backup-simplify]: Simplify (+ 0) into 0 15.697 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.697 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.698 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.699 * [backup-simplify]: Simplify (+ 0 0) into 0 15.699 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.699 * [backup-simplify]: Simplify (+ 0) into 0 15.699 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.700 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.700 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.700 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.701 * [backup-simplify]: Simplify (- 0) into 0 15.701 * [backup-simplify]: Simplify (+ 0 0) into 0 15.701 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.702 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.702 * [backup-simplify]: Simplify (- 0) into 0 15.702 * [backup-simplify]: Simplify (+ 0 0) into 0 15.703 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 15.703 * [taylor]: Taking taylor expansion of (/ 1 R) in phi2 15.703 * [taylor]: Taking taylor expansion of R in phi2 15.703 * [backup-simplify]: Simplify R into R 15.703 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 15.704 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 15.704 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 15.704 * [backup-simplify]: Simplify (- 0) into 0 15.705 * [backup-simplify]: Simplify (+ 0 0) into 0 15.705 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.706 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 15.706 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.707 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.707 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 15.707 * [backup-simplify]: Simplify (- 0) into 0 15.708 * [backup-simplify]: Simplify (+ 0 0) into 0 15.708 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.709 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 15.709 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.710 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.710 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 15.710 * [backup-simplify]: Simplify (- 0) into 0 15.711 * [backup-simplify]: Simplify (+ 0 0) into 0 15.711 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 15.712 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.712 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 15.713 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.713 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.714 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 15.714 * [backup-simplify]: Simplify (+ 0 0) into 0 15.715 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.716 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 15.716 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.717 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.718 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 15.718 * [backup-simplify]: Simplify (+ 0 0) into 0 15.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 15.719 * [backup-simplify]: Simplify (- 0) into 0 15.720 * [backup-simplify]: Simplify (+ 0 0) into 0 15.720 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0 15.721 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 15.722 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 15.722 * [backup-simplify]: Simplify (- 0) into 0 15.722 * [backup-simplify]: Simplify (+ 0 0) into 0 15.723 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 15.724 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.725 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 15.726 * [backup-simplify]: Simplify (- 0) into 0 15.726 * [backup-simplify]: Simplify (+ 0 0) into 0 15.727 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.728 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 15.728 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.729 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 15.730 * [backup-simplify]: Simplify (- 0) into 0 15.730 * [backup-simplify]: Simplify (+ 0 0) into 0 15.731 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 15.732 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.733 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 15.733 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.734 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.735 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 15.735 * [backup-simplify]: Simplify (+ 0 0) into 0 15.736 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.737 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 15.737 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.738 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.738 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 15.739 * [backup-simplify]: Simplify (+ 0 0) into 0 15.739 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 15.740 * [backup-simplify]: Simplify (- 0) into 0 15.740 * [backup-simplify]: Simplify (+ 0 0) into 0 15.741 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1))) into 0 15.743 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (+ (* (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2)) (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2))) (* 0 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))))) 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)))) 15.743 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 15.743 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 15.744 * [backup-simplify]: Simplify (- (/ 1 phi2)) into (- (/ 1 phi2)) 15.744 * [backup-simplify]: Simplify (+ (/ 1 phi1) (- (/ 1 phi2))) into (- (/ 1 phi1) (/ 1 phi2)) 15.744 * [backup-simplify]: Simplify (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))) into (pow (- (/ 1 phi1) (/ 1 phi2)) 2) 15.747 * [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)))) (pow (- (/ 1 phi1) (/ 1 phi2)) 2)) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) 15.759 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) (pow (* 1/2 (* (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 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))))))))))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* 1/2 (* (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ 1 (pow phi2 2)) (* 4 (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))))))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 5 (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 15.793 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ 1 (pow phi2 2)) (* 4 (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))))))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 5 (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) R) (+ (* (* (/ 1 R) (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))))))))) (/ 0 R)) (* (- (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R 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))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 R)) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (/ 0 R)))) into (- (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))))) 15.793 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))))) in lambda2 15.793 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))))) in lambda2 15.793 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in lambda2 15.793 * [taylor]: Taking taylor expansion of 1/2 in lambda2 15.793 * [backup-simplify]: Simplify 1/2 into 1/2 15.794 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda2 15.794 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) in lambda2 15.794 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.794 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.794 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.794 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.794 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.794 * [backup-simplify]: Simplify 0.5 into 0.5 15.794 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.794 * [backup-simplify]: Simplify phi1 into phi1 15.794 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.794 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.794 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.794 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.794 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.794 * [backup-simplify]: Simplify (- 0) into 0 15.795 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.795 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.795 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.795 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.795 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.795 * [backup-simplify]: Simplify 0.5 into 0.5 15.795 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.795 * [backup-simplify]: Simplify phi2 into phi2 15.795 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.795 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.795 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.795 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.795 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.795 * [backup-simplify]: Simplify (- 0) into 0 15.795 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.795 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2 15.795 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.795 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.795 * [backup-simplify]: Simplify 0 into 0 15.795 * [backup-simplify]: Simplify 1 into 1 15.795 * [taylor]: Taking taylor expansion of R in lambda2 15.796 * [backup-simplify]: Simplify R into R 15.796 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.796 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.796 * [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)) 15.796 * [backup-simplify]: Simplify (* 1 1) into 1 15.796 * [backup-simplify]: Simplify (* 1 R) into R 15.797 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 15.797 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda2 15.797 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda2 15.797 * [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 15.797 * [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 15.797 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.797 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.797 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.797 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.797 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.797 * [backup-simplify]: Simplify 0.5 into 0.5 15.797 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.797 * [backup-simplify]: Simplify phi1 into phi1 15.797 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.797 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.797 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.797 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.797 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.797 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.797 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.797 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.797 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.797 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.797 * [backup-simplify]: Simplify 0.5 into 0.5 15.797 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.797 * [backup-simplify]: Simplify phi2 into phi2 15.798 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.798 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.798 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.798 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.798 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.798 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.798 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.798 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.798 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.798 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.798 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.798 * [backup-simplify]: Simplify 0.5 into 0.5 15.798 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.798 * [backup-simplify]: Simplify phi1 into phi1 15.798 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.798 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.798 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.798 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.798 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.799 * [backup-simplify]: Simplify (- 0) into 0 15.799 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.799 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.799 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.799 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.799 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.799 * [backup-simplify]: Simplify 0.5 into 0.5 15.799 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.799 * [backup-simplify]: Simplify phi2 into phi2 15.799 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.799 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.799 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.799 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.799 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.799 * [backup-simplify]: Simplify (- 0) into 0 15.799 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.799 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 15.800 * [taylor]: Taking taylor expansion of 2 in lambda2 15.800 * [backup-simplify]: Simplify 2 into 2 15.800 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.800 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.800 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.800 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.800 * [backup-simplify]: Simplify 0.5 into 0.5 15.800 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.800 * [backup-simplify]: Simplify phi1 into phi1 15.800 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.800 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.800 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.800 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.800 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.800 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.800 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.800 * [backup-simplify]: Simplify 0.5 into 0.5 15.800 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.800 * [backup-simplify]: Simplify phi1 into phi1 15.800 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.800 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.800 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.800 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.800 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.800 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.800 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.800 * [backup-simplify]: Simplify 0.5 into 0.5 15.800 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.800 * [backup-simplify]: Simplify phi2 into phi2 15.800 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.800 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.800 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.800 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.800 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.800 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.800 * [backup-simplify]: Simplify 0.5 into 0.5 15.800 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.800 * [backup-simplify]: Simplify phi2 into phi2 15.800 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.801 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.801 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.801 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.801 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.801 * [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)) 15.801 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.801 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.801 * [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)) 15.802 * [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))) 15.802 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.802 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.802 * [backup-simplify]: Simplify (- 0) into 0 15.802 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.802 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.803 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.803 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.803 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.803 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.803 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.803 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.803 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.803 * [backup-simplify]: Simplify (- 0) into 0 15.803 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.803 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.804 * [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)))) 15.804 * [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))))) 15.804 * [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)))))) 15.804 * [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))))))) 15.806 * [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))))))) 15.807 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 15.809 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 15.810 * [backup-simplify]: Simplify (+ 0) into 0 15.810 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.811 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.812 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.812 * [backup-simplify]: Simplify (+ 0 0) into 0 15.813 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.813 * [backup-simplify]: Simplify (+ 0) into 0 15.813 * [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 15.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.816 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.816 * [backup-simplify]: Simplify (+ 0) into 0 15.817 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.817 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.818 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.818 * [backup-simplify]: Simplify (- 0) into 0 15.818 * [backup-simplify]: Simplify (+ 0 0) into 0 15.818 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.818 * [backup-simplify]: Simplify (+ 0) into 0 15.819 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.819 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.819 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.820 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.820 * [backup-simplify]: Simplify (- 0) into 0 15.820 * [backup-simplify]: Simplify (+ 0 0) into 0 15.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.821 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.821 * [backup-simplify]: Simplify (+ 0 0) into 0 15.821 * [backup-simplify]: Simplify (+ 0) into 0 15.821 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.822 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.822 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.822 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.823 * [backup-simplify]: Simplify (- 0) into 0 15.823 * [backup-simplify]: Simplify (+ 0 0) into 0 15.823 * [backup-simplify]: Simplify (+ 0) into 0 15.823 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.824 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.824 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.824 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.825 * [backup-simplify]: Simplify (+ 0 0) into 0 15.825 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.825 * [backup-simplify]: Simplify (+ 0) into 0 15.825 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.825 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.826 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.826 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.827 * [backup-simplify]: Simplify (+ 0 0) into 0 15.827 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.827 * [backup-simplify]: Simplify (+ 0) into 0 15.827 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.828 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.828 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.828 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.829 * [backup-simplify]: Simplify (- 0) into 0 15.829 * [backup-simplify]: Simplify (+ 0 0) into 0 15.829 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.829 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.830 * [backup-simplify]: Simplify (- 0) into 0 15.830 * [backup-simplify]: Simplify (+ 0 0) into 0 15.832 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.833 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.833 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))) in lambda2 15.833 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in lambda2 15.833 * [taylor]: Taking taylor expansion of 1/2 in lambda2 15.833 * [backup-simplify]: Simplify 1/2 into 1/2 15.833 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda2 15.833 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) in lambda2 15.833 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.833 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.833 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.833 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.833 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.833 * [backup-simplify]: Simplify 0.5 into 0.5 15.833 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.833 * [backup-simplify]: Simplify phi1 into phi1 15.833 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.833 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.833 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.833 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.833 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.833 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.833 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.833 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.833 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.833 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.833 * [backup-simplify]: Simplify 0.5 into 0.5 15.833 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.833 * [backup-simplify]: Simplify phi2 into phi2 15.833 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.834 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.834 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.834 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.834 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.834 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.834 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2 15.834 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.834 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.834 * [backup-simplify]: Simplify 0 into 0 15.834 * [backup-simplify]: Simplify 1 into 1 15.834 * [taylor]: Taking taylor expansion of R in lambda2 15.834 * [backup-simplify]: Simplify R into R 15.834 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.834 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.834 * [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)) 15.835 * [backup-simplify]: Simplify (* 1 1) into 1 15.835 * [backup-simplify]: Simplify (* 1 R) into R 15.835 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 15.835 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda2 15.835 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda2 15.835 * [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 15.835 * [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 15.835 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.835 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.835 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.835 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.835 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.835 * [backup-simplify]: Simplify 0.5 into 0.5 15.835 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.835 * [backup-simplify]: Simplify phi1 into phi1 15.835 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 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)) into (cos (/ 0.5 phi1)) 15.835 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.836 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.836 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.836 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.836 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.836 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.836 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.836 * [backup-simplify]: Simplify 0.5 into 0.5 15.836 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.836 * [backup-simplify]: Simplify phi2 into phi2 15.836 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.836 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.836 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.836 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.836 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.836 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.836 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.836 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.836 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.836 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.836 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.836 * [backup-simplify]: Simplify 0.5 into 0.5 15.836 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.836 * [backup-simplify]: Simplify phi1 into phi1 15.836 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.836 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.836 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.836 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.837 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.837 * [backup-simplify]: Simplify (- 0) into 0 15.837 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.837 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.837 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.837 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.837 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.837 * [backup-simplify]: Simplify 0.5 into 0.5 15.837 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.837 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.837 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.837 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.838 * [backup-simplify]: Simplify (- 0) into 0 15.838 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.838 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 15.838 * [taylor]: Taking taylor expansion of 2 in lambda2 15.838 * [backup-simplify]: Simplify 2 into 2 15.838 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.838 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.838 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.838 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.838 * [backup-simplify]: Simplify 0.5 into 0.5 15.838 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.838 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.838 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.838 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.838 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.838 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.838 * [backup-simplify]: Simplify 0.5 into 0.5 15.838 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.838 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.838 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.838 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.838 * [backup-simplify]: Simplify 0.5 into 0.5 15.838 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.838 * [backup-simplify]: Simplify phi2 into phi2 15.838 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.839 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.839 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.839 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.839 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.839 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.839 * [backup-simplify]: Simplify 0.5 into 0.5 15.839 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.839 * [backup-simplify]: Simplify phi2 into phi2 15.839 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.839 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.839 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 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 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.839 * [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)) 15.839 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.839 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.840 * [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)) 15.840 * [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))) 15.840 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.840 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.841 * [backup-simplify]: Simplify (- 0) into 0 15.841 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.841 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.841 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.841 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.841 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.841 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.841 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.841 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.841 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.841 * [backup-simplify]: Simplify (- 0) into 0 15.842 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.842 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.842 * [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)))) 15.842 * [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))))) 15.842 * [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)))))) 15.842 * [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))))))) 15.843 * [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))))))) 15.844 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 15.845 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 15.846 * [backup-simplify]: Simplify (+ 0) into 0 15.846 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.846 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.847 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.847 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.847 * [backup-simplify]: Simplify (+ 0 0) into 0 15.847 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.848 * [backup-simplify]: Simplify (+ 0) into 0 15.848 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.848 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.849 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.850 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.850 * [backup-simplify]: Simplify (+ 0 0) into 0 15.850 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.851 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.851 * [backup-simplify]: Simplify (+ 0) into 0 15.852 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.852 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.853 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.853 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.854 * [backup-simplify]: Simplify (- 0) into 0 15.854 * [backup-simplify]: Simplify (+ 0 0) into 0 15.854 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.855 * [backup-simplify]: Simplify (+ 0) into 0 15.855 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.855 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.857 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.857 * [backup-simplify]: Simplify (- 0) into 0 15.857 * [backup-simplify]: Simplify (+ 0 0) into 0 15.857 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.858 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.858 * [backup-simplify]: Simplify (+ 0 0) into 0 15.859 * [backup-simplify]: Simplify (+ 0) into 0 15.859 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.859 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.860 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.861 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.861 * [backup-simplify]: Simplify (- 0) into 0 15.862 * [backup-simplify]: Simplify (+ 0 0) into 0 15.862 * [backup-simplify]: Simplify (+ 0) into 0 15.863 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.863 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.864 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.864 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.864 * [backup-simplify]: Simplify (+ 0 0) into 0 15.865 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.865 * [backup-simplify]: Simplify (+ 0) into 0 15.866 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.866 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.867 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.868 * [backup-simplify]: Simplify (+ 0 0) into 0 15.868 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.869 * [backup-simplify]: Simplify (+ 0) into 0 15.869 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.869 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.871 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.871 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.872 * [backup-simplify]: Simplify (- 0) into 0 15.872 * [backup-simplify]: Simplify (+ 0 0) into 0 15.872 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.874 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.874 * [backup-simplify]: Simplify (- 0) into 0 15.875 * [backup-simplify]: Simplify (+ 0 0) into 0 15.878 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.880 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.880 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) in lambda2 15.880 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in lambda2 15.880 * [taylor]: Taking taylor expansion of 1/2 in lambda2 15.880 * [backup-simplify]: Simplify 1/2 into 1/2 15.880 * [taylor]: Taking taylor expansion of (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda2 15.880 * [taylor]: Taking taylor expansion of (/ 1 (* R (pow phi1 2))) in lambda2 15.880 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in lambda2 15.880 * [taylor]: Taking taylor expansion of R in lambda2 15.880 * [backup-simplify]: Simplify R into R 15.880 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.880 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.880 * [backup-simplify]: Simplify phi1 into phi1 15.880 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.880 * [backup-simplify]: Simplify (* R (pow phi1 2)) into (* (pow phi1 2) R) 15.881 * [backup-simplify]: Simplify (/ 1 (* (pow phi1 2) R)) into (/ 1 (* (pow phi1 2) R)) 15.881 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda2 15.881 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda2 15.881 * [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 15.881 * [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 15.881 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.881 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.881 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.881 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.881 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.881 * [backup-simplify]: Simplify 0.5 into 0.5 15.881 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.881 * [backup-simplify]: Simplify phi1 into phi1 15.881 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.881 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.881 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.881 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.882 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.882 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.882 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.882 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.882 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.882 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.882 * [backup-simplify]: Simplify 0.5 into 0.5 15.882 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.882 * [backup-simplify]: Simplify phi2 into phi2 15.882 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.882 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.882 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.882 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.882 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.882 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.882 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.882 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.882 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.883 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.883 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.883 * [backup-simplify]: Simplify 0.5 into 0.5 15.883 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.883 * [backup-simplify]: Simplify phi1 into phi1 15.883 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.883 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.883 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.883 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.883 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.884 * [backup-simplify]: Simplify (- 0) into 0 15.884 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.884 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.884 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.884 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.884 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.884 * [backup-simplify]: Simplify 0.5 into 0.5 15.884 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.884 * [backup-simplify]: Simplify phi2 into phi2 15.884 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.884 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.884 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.884 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.885 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.885 * [backup-simplify]: Simplify (- 0) into 0 15.885 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.885 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 15.885 * [taylor]: Taking taylor expansion of 2 in lambda2 15.885 * [backup-simplify]: Simplify 2 into 2 15.885 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.885 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.885 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.885 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.885 * [backup-simplify]: Simplify 0.5 into 0.5 15.885 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.885 * [backup-simplify]: Simplify phi1 into phi1 15.885 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.886 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.886 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.886 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.886 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.886 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.886 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.886 * [backup-simplify]: Simplify 0.5 into 0.5 15.886 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.886 * [backup-simplify]: Simplify phi1 into phi1 15.886 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.886 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.886 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.886 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.886 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.886 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.886 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.886 * [backup-simplify]: Simplify 0.5 into 0.5 15.886 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.886 * [backup-simplify]: Simplify phi2 into phi2 15.886 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.886 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.887 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.887 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.887 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.887 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.887 * [backup-simplify]: Simplify 0.5 into 0.5 15.887 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.887 * [backup-simplify]: Simplify phi2 into phi2 15.887 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.887 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.887 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.887 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.887 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.888 * [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)) 15.888 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.888 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.888 * [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)) 15.889 * [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))) 15.889 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.889 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.890 * [backup-simplify]: Simplify (- 0) into 0 15.890 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.890 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.890 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.890 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.890 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.891 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.891 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.891 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.891 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.891 * [backup-simplify]: Simplify (- 0) into 0 15.891 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.892 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.892 * [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)))) 15.892 * [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))))) 15.893 * [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)))))) 15.893 * [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))))))) 15.894 * [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))))))) 15.896 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 15.897 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 15.897 * [backup-simplify]: Simplify (+ 0) into 0 15.898 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.898 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.899 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.899 * [backup-simplify]: Simplify (+ 0 0) into 0 15.899 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.899 * [backup-simplify]: Simplify (+ 0) into 0 15.900 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.900 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.900 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.900 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.901 * [backup-simplify]: Simplify (+ 0 0) into 0 15.901 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.901 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.901 * [backup-simplify]: Simplify (+ 0) into 0 15.902 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.902 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.903 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.903 * [backup-simplify]: Simplify (- 0) into 0 15.903 * [backup-simplify]: Simplify (+ 0 0) into 0 15.903 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.904 * [backup-simplify]: Simplify (+ 0) into 0 15.904 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.904 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.905 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.905 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.905 * [backup-simplify]: Simplify (- 0) into 0 15.905 * [backup-simplify]: Simplify (+ 0 0) into 0 15.905 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.906 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.906 * [backup-simplify]: Simplify (+ 0 0) into 0 15.906 * [backup-simplify]: Simplify (+ 0) into 0 15.907 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.907 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.907 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.908 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.908 * [backup-simplify]: Simplify (- 0) into 0 15.908 * [backup-simplify]: Simplify (+ 0 0) into 0 15.908 * [backup-simplify]: Simplify (+ 0) into 0 15.909 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.909 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.910 * [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 phi2)))) into 0 15.910 * [backup-simplify]: Simplify (+ 0) into 0 15.910 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.911 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.911 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.911 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.912 * [backup-simplify]: Simplify (+ 0 0) into 0 15.912 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.912 * [backup-simplify]: Simplify (+ 0) into 0 15.912 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.913 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.913 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.914 * [backup-simplify]: Simplify (- 0) into 0 15.914 * [backup-simplify]: Simplify (+ 0 0) into 0 15.914 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.915 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.915 * [backup-simplify]: Simplify (- 0) into 0 15.915 * [backup-simplify]: Simplify (+ 0 0) into 0 15.917 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.918 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 15.918 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) in lambda2 15.918 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 15.918 * [taylor]: Taking taylor expansion of 2 in lambda2 15.918 * [backup-simplify]: Simplify 2 into 2 15.918 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 15.918 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) in lambda2 15.918 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) in lambda2 15.918 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2 15.918 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.918 * [backup-simplify]: Simplify 0.5 into 0.5 15.918 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.918 * [backup-simplify]: Simplify phi1 into phi1 15.918 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.918 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.919 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.919 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.919 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2)))) in lambda2 15.919 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.919 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.919 * [backup-simplify]: Simplify 0.5 into 0.5 15.919 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.919 * [backup-simplify]: Simplify phi1 into phi1 15.919 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.919 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.919 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.919 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))) in lambda2 15.919 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2 15.919 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.919 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.919 * [backup-simplify]: Simplify 0.5 into 0.5 15.919 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.919 * [backup-simplify]: Simplify phi2 into phi2 15.919 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.919 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.919 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.919 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.919 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.919 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.919 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.919 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.919 * [backup-simplify]: Simplify 0.5 into 0.5 15.919 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.920 * [backup-simplify]: Simplify phi2 into phi2 15.920 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.920 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.920 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.920 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 15.920 * [taylor]: Taking taylor expansion of R in lambda2 15.920 * [backup-simplify]: Simplify R into R 15.920 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.920 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.920 * [backup-simplify]: Simplify 0 into 0 15.920 * [backup-simplify]: Simplify 1 into 1 15.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3) 15.920 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.921 * [backup-simplify]: Simplify (- 0) into 0 15.921 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.921 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.921 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3) 15.921 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.921 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.921 * [backup-simplify]: Simplify (- 0) into 0 15.921 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.922 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))) into (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))) 15.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2)))) 15.922 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) 15.922 * [backup-simplify]: Simplify (* 1 1) into 1 15.922 * [backup-simplify]: Simplify (* R 1) into R 15.923 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) into (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) 15.923 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 15.923 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 15.923 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 15.923 * [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 15.923 * [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 15.923 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.923 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.923 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.923 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.923 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.923 * [backup-simplify]: Simplify 0.5 into 0.5 15.923 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.923 * [backup-simplify]: Simplify phi1 into phi1 15.923 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.923 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.923 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.923 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.923 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.923 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.923 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.924 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.924 * [backup-simplify]: Simplify 0.5 into 0.5 15.924 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.924 * [backup-simplify]: Simplify phi2 into phi2 15.924 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.924 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.924 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.924 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.924 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.924 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.924 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.924 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.924 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.924 * [backup-simplify]: Simplify 0.5 into 0.5 15.924 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.924 * [backup-simplify]: Simplify phi1 into phi1 15.924 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.924 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.924 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.925 * [backup-simplify]: Simplify (- 0) into 0 15.925 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.925 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.925 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.925 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.925 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.925 * [backup-simplify]: Simplify 0.5 into 0.5 15.925 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.926 * [backup-simplify]: Simplify phi2 into phi2 15.926 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.926 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.926 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.926 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.926 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.926 * [backup-simplify]: Simplify (- 0) into 0 15.927 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.927 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 15.927 * [taylor]: Taking taylor expansion of 2 in lambda2 15.927 * [backup-simplify]: Simplify 2 into 2 15.927 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.927 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.927 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.927 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.927 * [backup-simplify]: Simplify 0.5 into 0.5 15.927 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.927 * [backup-simplify]: Simplify phi1 into phi1 15.927 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.927 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.927 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.927 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.927 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.927 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.927 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.927 * [backup-simplify]: Simplify 0.5 into 0.5 15.927 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.927 * [backup-simplify]: Simplify phi1 into phi1 15.927 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.927 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.928 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.928 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.928 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.928 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.928 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.928 * [backup-simplify]: Simplify 0.5 into 0.5 15.928 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.928 * [backup-simplify]: Simplify phi2 into phi2 15.928 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.928 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.928 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.928 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.928 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.928 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.928 * [backup-simplify]: Simplify 0.5 into 0.5 15.928 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.928 * [backup-simplify]: Simplify phi2 into phi2 15.928 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.928 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.928 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.929 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.929 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.929 * [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)) 15.929 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.930 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.930 * [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)) 15.931 * [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))) 15.931 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.931 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.937 * [backup-simplify]: Simplify (- 0) into 0 15.937 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.937 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.937 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.937 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 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 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.938 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.939 * [backup-simplify]: Simplify (- 0) into 0 15.939 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.939 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.939 * [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)))) 15.940 * [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))))) 15.940 * [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)))))) 15.941 * [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))))))) 15.942 * [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))))))) 15.945 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 15.948 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 15.949 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 15.951 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 15.952 * [backup-simplify]: Simplify (+ 0) into 0 15.953 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.953 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.954 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.955 * [backup-simplify]: Simplify (+ 0 0) into 0 15.955 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 15.955 * [backup-simplify]: Simplify (+ 0) into 0 15.956 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.956 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.957 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.958 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.958 * [backup-simplify]: Simplify (+ 0 0) into 0 15.959 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 15.959 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 15.960 * [backup-simplify]: Simplify (+ 0) into 0 15.960 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.960 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.962 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.962 * [backup-simplify]: Simplify (- 0) into 0 15.962 * [backup-simplify]: Simplify (+ 0 0) into 0 15.963 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.963 * [backup-simplify]: Simplify (+ 0) into 0 15.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.964 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.965 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.965 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.965 * [backup-simplify]: Simplify (- 0) into 0 15.966 * [backup-simplify]: Simplify (+ 0 0) into 0 15.966 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 15.967 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 15.967 * [backup-simplify]: Simplify (+ 0 0) into 0 15.967 * [backup-simplify]: Simplify (+ 0) into 0 15.968 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.968 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.970 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.970 * [backup-simplify]: Simplify (- 0) into 0 15.971 * [backup-simplify]: Simplify (+ 0 0) into 0 15.971 * [backup-simplify]: Simplify (+ 0) into 0 15.972 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 15.972 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 15.973 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.973 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 15.974 * [backup-simplify]: Simplify (+ 0 0) into 0 15.974 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 15.974 * [backup-simplify]: Simplify (+ 0) into 0 15.975 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.975 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.976 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.976 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.977 * [backup-simplify]: Simplify (+ 0 0) into 0 15.977 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 15.978 * [backup-simplify]: Simplify (+ 0) into 0 15.978 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 15.978 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 15.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.980 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 15.980 * [backup-simplify]: Simplify (- 0) into 0 15.980 * [backup-simplify]: Simplify (+ 0 0) into 0 15.981 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 15.982 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 15.982 * [backup-simplify]: Simplify (- 0) into 0 15.982 * [backup-simplify]: Simplify (+ 0 0) into 0 15.985 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 15.986 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 15.988 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 15.990 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 15.990 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) in lambda2 15.990 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in lambda2 15.990 * [taylor]: Taking taylor expansion of 1/2 in lambda2 15.990 * [backup-simplify]: Simplify 1/2 into 1/2 15.990 * [taylor]: Taking taylor expansion of (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda2 15.990 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) R)) in lambda2 15.990 * [taylor]: Taking taylor expansion of (* (pow phi2 2) R) in lambda2 15.990 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.990 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.990 * [backup-simplify]: Simplify phi2 into phi2 15.990 * [taylor]: Taking taylor expansion of R in lambda2 15.990 * [backup-simplify]: Simplify R into R 15.990 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.990 * [backup-simplify]: Simplify (* (pow phi2 2) R) into (* (pow phi2 2) R) 15.991 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) R)) into (/ 1 (* (pow phi2 2) R)) 15.991 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda2 15.991 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda2 15.991 * [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 15.991 * [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 15.991 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 15.991 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 15.991 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.991 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.991 * [backup-simplify]: Simplify 0.5 into 0.5 15.991 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.991 * [backup-simplify]: Simplify phi1 into phi1 15.991 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.991 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.991 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.991 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.991 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.991 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.991 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 15.991 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.991 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.991 * [backup-simplify]: Simplify 0.5 into 0.5 15.991 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.991 * [backup-simplify]: Simplify phi2 into phi2 15.991 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.991 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.992 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.992 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.992 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.992 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 15.992 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 15.992 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.992 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.992 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.992 * [backup-simplify]: Simplify 0.5 into 0.5 15.992 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.992 * [backup-simplify]: Simplify phi1 into phi1 15.992 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 15.992 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 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)) 1) into (cos (/ 0.5 phi1)) 15.992 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.993 * [backup-simplify]: Simplify (- 0) into 0 15.993 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.993 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 15.993 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.993 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.993 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.993 * [backup-simplify]: Simplify 0.5 into 0.5 15.993 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.993 * [backup-simplify]: Simplify phi2 into phi2 15.993 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.993 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.993 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.993 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.993 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.993 * [backup-simplify]: Simplify (- 0) into 0 15.993 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.993 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 15.994 * [taylor]: Taking taylor expansion of 2 in lambda2 15.994 * [backup-simplify]: Simplify 2 into 2 15.994 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 15.994 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 15.994 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.994 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.994 * [backup-simplify]: Simplify 0.5 into 0.5 15.994 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 15.994 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 15.994 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 15.994 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.994 * [backup-simplify]: Simplify 0.5 into 0.5 15.994 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 15.994 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 15.994 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 15.994 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 15.994 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.994 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.994 * [backup-simplify]: Simplify 0.5 into 0.5 15.994 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.994 * [backup-simplify]: Simplify phi2 into phi2 15.994 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.994 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.994 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.994 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 15.994 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 15.994 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.994 * [backup-simplify]: Simplify 0.5 into 0.5 15.994 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.994 * [backup-simplify]: Simplify phi2 into phi2 15.994 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 15.995 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 15.995 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 15.995 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 15.995 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 15.995 * [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)) 15.995 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 15.995 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 15.995 * [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)) 15.996 * [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))) 15.996 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 15.996 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 15.996 * [backup-simplify]: Simplify (- 0) into 0 15.996 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 15.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 15.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 15.997 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 15.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 15.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 15.997 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 15.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 15.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 15.997 * [backup-simplify]: Simplify (- 0) into 0 15.997 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 15.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 15.998 * [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)))) 15.998 * [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))))) 15.998 * [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)))))) 15.998 * [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))))))) 15.999 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.000 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 16.001 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 16.001 * [backup-simplify]: Simplify (+ 0) into 0 16.002 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.002 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.003 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.003 * [backup-simplify]: Simplify (+ 0 0) into 0 16.003 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.003 * [backup-simplify]: Simplify (+ 0) into 0 16.004 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.004 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.005 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.005 * [backup-simplify]: Simplify (+ 0 0) into 0 16.005 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.005 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.005 * [backup-simplify]: Simplify (+ 0) into 0 16.006 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.006 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.007 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.007 * [backup-simplify]: Simplify (- 0) into 0 16.007 * [backup-simplify]: Simplify (+ 0 0) into 0 16.007 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.008 * [backup-simplify]: Simplify (+ 0) into 0 16.008 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.008 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.009 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.009 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.009 * [backup-simplify]: Simplify (- 0) into 0 16.009 * [backup-simplify]: Simplify (+ 0 0) into 0 16.010 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.010 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.010 * [backup-simplify]: Simplify (+ 0 0) into 0 16.010 * [backup-simplify]: Simplify (+ 0) into 0 16.011 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.011 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.012 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.012 * [backup-simplify]: Simplify (- 0) into 0 16.012 * [backup-simplify]: Simplify (+ 0 0) into 0 16.013 * [backup-simplify]: Simplify (+ 0) into 0 16.013 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.013 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.014 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.015 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.015 * [backup-simplify]: Simplify (+ 0 0) into 0 16.015 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.016 * [backup-simplify]: Simplify (+ 0) into 0 16.016 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.016 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.018 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.018 * [backup-simplify]: Simplify (+ 0 0) into 0 16.018 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.019 * [backup-simplify]: Simplify (+ 0) into 0 16.019 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.019 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.021 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.021 * [backup-simplify]: Simplify (- 0) into 0 16.022 * [backup-simplify]: Simplify (+ 0 0) into 0 16.022 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.023 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.023 * [backup-simplify]: Simplify (- 0) into 0 16.023 * [backup-simplify]: Simplify (+ 0 0) into 0 16.027 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.028 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.028 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 16.028 * [taylor]: Taking taylor expansion of 2 in lambda2 16.028 * [backup-simplify]: Simplify 2 into 2 16.028 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 16.029 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 2))) in lambda2 16.029 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) in lambda2 16.029 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.029 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.029 * [backup-simplify]: Simplify 0.5 into 0.5 16.029 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.029 * [backup-simplify]: Simplify phi1 into phi1 16.029 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 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)) into (cos (/ 0.5 phi1)) 16.029 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3))) in lambda2 16.029 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in lambda2 16.029 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.029 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.029 * [backup-simplify]: Simplify 0.5 into 0.5 16.030 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.030 * [backup-simplify]: Simplify phi1 into phi1 16.030 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.030 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.030 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.030 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.030 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.031 * [backup-simplify]: Simplify (- 0) into 0 16.031 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.031 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)) in lambda2 16.031 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.031 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.031 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.031 * [backup-simplify]: Simplify 0.5 into 0.5 16.031 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.031 * [backup-simplify]: Simplify phi2 into phi2 16.031 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.031 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.031 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in lambda2 16.031 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.031 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.031 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.031 * [backup-simplify]: Simplify 0.5 into 0.5 16.031 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.031 * [backup-simplify]: Simplify phi2 into phi2 16.031 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.031 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.032 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.032 * [backup-simplify]: Simplify (- 0) into 0 16.032 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.032 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 16.032 * [taylor]: Taking taylor expansion of R in lambda2 16.033 * [backup-simplify]: Simplify R into R 16.033 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.033 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.033 * [backup-simplify]: Simplify 0 into 0 16.033 * [backup-simplify]: Simplify 1 into 1 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 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3) 16.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.034 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3) 16.035 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)) into (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)) 16.035 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3))) into (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3))) 16.035 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) into (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) 16.036 * [backup-simplify]: Simplify (* 1 1) into 1 16.036 * [backup-simplify]: Simplify (* R 1) into R 16.037 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) into (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) 16.037 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 16.037 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 16.037 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 16.037 * [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 16.037 * [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 16.037 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.037 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.037 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.037 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.037 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.037 * [backup-simplify]: Simplify 0.5 into 0.5 16.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.037 * [backup-simplify]: Simplify phi1 into phi1 16.037 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.037 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.037 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.038 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.038 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.038 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.038 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.038 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.038 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.038 * [backup-simplify]: Simplify 0.5 into 0.5 16.038 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.038 * [backup-simplify]: Simplify phi2 into phi2 16.038 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.038 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.038 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.038 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.039 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.039 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.039 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.039 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.039 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.039 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.039 * [backup-simplify]: Simplify 0.5 into 0.5 16.039 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.039 * [backup-simplify]: Simplify phi1 into phi1 16.039 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.039 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.039 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.039 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.039 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.040 * [backup-simplify]: Simplify (- 0) into 0 16.040 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.040 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.040 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.040 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.040 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.040 * [backup-simplify]: Simplify 0.5 into 0.5 16.040 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.040 * [backup-simplify]: Simplify phi2 into phi2 16.040 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.040 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.041 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.041 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.041 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.041 * [backup-simplify]: Simplify (- 0) into 0 16.041 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.041 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 16.041 * [taylor]: Taking taylor expansion of 2 in lambda2 16.042 * [backup-simplify]: Simplify 2 into 2 16.042 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.042 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.042 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.042 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.042 * [backup-simplify]: Simplify 0.5 into 0.5 16.042 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.042 * [backup-simplify]: Simplify phi1 into phi1 16.042 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.042 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.042 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.042 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.042 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.042 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.042 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.042 * [backup-simplify]: Simplify 0.5 into 0.5 16.042 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.042 * [backup-simplify]: Simplify phi1 into phi1 16.043 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.043 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.043 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.043 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.043 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.043 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.043 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.043 * [backup-simplify]: Simplify 0.5 into 0.5 16.043 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.043 * [backup-simplify]: Simplify phi2 into phi2 16.043 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.043 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.043 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.043 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.043 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.043 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.043 * [backup-simplify]: Simplify 0.5 into 0.5 16.043 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.043 * [backup-simplify]: Simplify phi2 into phi2 16.043 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.044 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.044 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.044 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.044 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.044 * [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)) 16.045 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.045 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.045 * [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)) 16.046 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.046 * [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 (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.047 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.048 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.048 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.048 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.048 * [backup-simplify]: Simplify (- 0) into 0 16.049 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.049 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.049 * [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)))) 16.049 * [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))))) 16.050 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.050 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.052 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.055 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 16.058 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 16.059 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 16.061 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 16.062 * [backup-simplify]: Simplify (+ 0) into 0 16.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.062 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.064 * [backup-simplify]: Simplify (+ 0 0) into 0 16.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.065 * [backup-simplify]: Simplify (+ 0) into 0 16.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.065 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.067 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.067 * [backup-simplify]: Simplify (+ 0 0) into 0 16.067 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.068 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.068 * [backup-simplify]: Simplify (+ 0) into 0 16.069 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.069 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.070 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.070 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.071 * [backup-simplify]: Simplify (- 0) into 0 16.071 * [backup-simplify]: Simplify (+ 0 0) into 0 16.071 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.072 * [backup-simplify]: Simplify (+ 0) into 0 16.072 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.074 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.074 * [backup-simplify]: Simplify (- 0) into 0 16.074 * [backup-simplify]: Simplify (+ 0 0) into 0 16.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.075 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.075 * [backup-simplify]: Simplify (+ 0 0) into 0 16.076 * [backup-simplify]: Simplify (+ 0) into 0 16.076 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.076 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.078 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.078 * [backup-simplify]: Simplify (- 0) into 0 16.079 * [backup-simplify]: Simplify (+ 0 0) into 0 16.079 * [backup-simplify]: Simplify (+ 0) into 0 16.080 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.080 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.081 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.082 * [backup-simplify]: Simplify (+ 0 0) into 0 16.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.082 * [backup-simplify]: Simplify (+ 0) into 0 16.083 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.083 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.084 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.085 * [backup-simplify]: Simplify (+ 0 0) into 0 16.085 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.085 * [backup-simplify]: Simplify (+ 0) into 0 16.086 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.086 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.087 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.088 * [backup-simplify]: Simplify (- 0) into 0 16.088 * [backup-simplify]: Simplify (+ 0 0) into 0 16.088 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.089 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.089 * [backup-simplify]: Simplify (- 0) into 0 16.090 * [backup-simplify]: Simplify (+ 0 0) into 0 16.093 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 16.096 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 16.099 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.101 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.101 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))) in lambda2 16.101 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 16.101 * [taylor]: Taking taylor expansion of 1/2 in lambda2 16.101 * [backup-simplify]: Simplify 1/2 into 1/2 16.101 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 16.101 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) in lambda2 16.101 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) in lambda2 16.101 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 4) in lambda2 16.102 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.102 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.102 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.102 * [backup-simplify]: Simplify 0.5 into 0.5 16.102 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.102 * [backup-simplify]: Simplify phi1 into phi1 16.102 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.102 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.102 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.102 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.102 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.102 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.102 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 4) in lambda2 16.102 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.102 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.102 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.103 * [backup-simplify]: Simplify 0.5 into 0.5 16.103 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.103 * [backup-simplify]: Simplify phi2 into phi2 16.103 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.103 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.103 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.103 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.103 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.103 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2 16.103 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.103 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.103 * [backup-simplify]: Simplify 0 into 0 16.103 * [backup-simplify]: Simplify 1 into 1 16.103 * [taylor]: Taking taylor expansion of R in lambda2 16.103 * [backup-simplify]: Simplify R into R 16.103 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.104 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4) 16.104 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.104 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4) 16.105 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) into (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) 16.109 * [backup-simplify]: Simplify (* 1 1) into 1 16.110 * [backup-simplify]: Simplify (* 1 R) into R 16.110 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) into (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) 16.110 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 16.110 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 16.110 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 16.110 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda2 16.110 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda2 16.110 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.111 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.111 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.111 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.111 * [backup-simplify]: Simplify 0.5 into 0.5 16.111 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.111 * [backup-simplify]: Simplify phi1 into phi1 16.111 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.111 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.111 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.111 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.111 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.111 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.111 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.111 * [backup-simplify]: Simplify 0.5 into 0.5 16.111 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.111 * [backup-simplify]: Simplify phi2 into phi2 16.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.112 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.112 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.112 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.112 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.112 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.112 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.112 * [backup-simplify]: Simplify 0.5 into 0.5 16.112 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.112 * [backup-simplify]: Simplify phi1 into phi1 16.112 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.112 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.113 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.113 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.113 * [backup-simplify]: Simplify (- 0) into 0 16.113 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.113 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.113 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.114 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.114 * [backup-simplify]: Simplify 0.5 into 0.5 16.114 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.114 * [backup-simplify]: Simplify phi2 into phi2 16.114 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.114 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.114 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.114 * [backup-simplify]: Simplify (- 0) into 0 16.115 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.115 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 16.115 * [taylor]: Taking taylor expansion of 2 in lambda2 16.115 * [backup-simplify]: Simplify 2 into 2 16.115 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.115 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.115 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.115 * [backup-simplify]: Simplify 0.5 into 0.5 16.115 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.115 * [backup-simplify]: Simplify phi1 into phi1 16.115 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.115 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.115 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.115 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.115 * [backup-simplify]: Simplify 0.5 into 0.5 16.115 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.115 * [backup-simplify]: Simplify phi1 into phi1 16.115 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.116 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.116 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.116 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.116 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.116 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.116 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.116 * [backup-simplify]: Simplify 0.5 into 0.5 16.116 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.116 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.116 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.116 * [backup-simplify]: Simplify 0.5 into 0.5 16.116 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.116 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 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 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.117 * [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)) 16.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.118 * [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)) 16.119 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.119 * [backup-simplify]: Simplify (- 0) into 0 16.120 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.120 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.120 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) 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 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.121 * [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)))) 16.122 * [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))))) 16.122 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.123 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.124 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.127 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 16.130 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 16.132 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 16.134 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 16.134 * [backup-simplify]: Simplify (+ 0) into 0 16.135 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.135 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.137 * [backup-simplify]: Simplify (+ 0 0) into 0 16.137 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.137 * [backup-simplify]: Simplify (+ 0) into 0 16.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.138 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.140 * [backup-simplify]: Simplify (+ 0 0) into 0 16.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.140 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.141 * [backup-simplify]: Simplify (+ 0) into 0 16.141 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.142 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.143 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.143 * [backup-simplify]: Simplify (- 0) into 0 16.144 * [backup-simplify]: Simplify (+ 0 0) into 0 16.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.144 * [backup-simplify]: Simplify (+ 0) into 0 16.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.145 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.146 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.146 * [backup-simplify]: Simplify (- 0) into 0 16.147 * [backup-simplify]: Simplify (+ 0 0) into 0 16.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.147 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.148 * [backup-simplify]: Simplify (+ 0 0) into 0 16.148 * [backup-simplify]: Simplify (+ 0) into 0 16.149 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.149 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.150 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.151 * [backup-simplify]: Simplify (- 0) into 0 16.151 * [backup-simplify]: Simplify (+ 0 0) into 0 16.151 * [backup-simplify]: Simplify (+ 0) into 0 16.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.152 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.153 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.154 * [backup-simplify]: Simplify (+ 0 0) into 0 16.154 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.154 * [backup-simplify]: Simplify (+ 0) into 0 16.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.155 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.156 * [backup-simplify]: Simplify (+ 0 0) into 0 16.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.157 * [backup-simplify]: Simplify (+ 0) into 0 16.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.158 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.159 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.159 * [backup-simplify]: Simplify (- 0) into 0 16.160 * [backup-simplify]: Simplify (+ 0 0) into 0 16.160 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.161 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.161 * [backup-simplify]: Simplify (- 0) into 0 16.162 * [backup-simplify]: Simplify (+ 0 0) into 0 16.164 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 16.167 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 16.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.172 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.172 * [taylor]: Taking taylor expansion of (+ (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) in lambda2 16.173 * [taylor]: Taking taylor expansion of (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda2 16.173 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* R phi1))) in lambda2 16.173 * [taylor]: Taking taylor expansion of (* phi2 (* R phi1)) in lambda2 16.173 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.173 * [backup-simplify]: Simplify phi2 into phi2 16.173 * [taylor]: Taking taylor expansion of (* R phi1) in lambda2 16.173 * [taylor]: Taking taylor expansion of R in lambda2 16.173 * [backup-simplify]: Simplify R into R 16.173 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.173 * [backup-simplify]: Simplify phi1 into phi1 16.173 * [backup-simplify]: Simplify (* R phi1) into (* phi1 R) 16.173 * [backup-simplify]: Simplify (* phi2 (* phi1 R)) into (* phi2 (* phi1 R)) 16.173 * [backup-simplify]: Simplify (/ 1 (* phi2 (* phi1 R))) into (/ 1 (* phi2 (* R phi1))) 16.173 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda2 16.173 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda2 16.173 * [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 16.173 * [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 16.173 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.173 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.173 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.173 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.173 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.173 * [backup-simplify]: Simplify 0.5 into 0.5 16.173 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.173 * [backup-simplify]: Simplify phi1 into phi1 16.174 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.174 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.174 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.174 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.174 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.174 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.174 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.174 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.174 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.174 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.174 * [backup-simplify]: Simplify 0.5 into 0.5 16.174 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.174 * [backup-simplify]: Simplify phi2 into phi2 16.174 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.174 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.174 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.175 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.175 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.175 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.175 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.175 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.175 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.175 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.175 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.175 * [backup-simplify]: Simplify 0.5 into 0.5 16.175 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.175 * [backup-simplify]: Simplify phi1 into phi1 16.175 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.175 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.175 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.175 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.175 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.176 * [backup-simplify]: Simplify (- 0) into 0 16.176 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.176 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.176 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.176 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.176 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.176 * [backup-simplify]: Simplify 0.5 into 0.5 16.176 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.176 * [backup-simplify]: Simplify phi2 into phi2 16.176 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.177 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.177 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.177 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.177 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.177 * [backup-simplify]: Simplify (- 0) into 0 16.177 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.177 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 16.177 * [taylor]: Taking taylor expansion of 2 in lambda2 16.177 * [backup-simplify]: Simplify 2 into 2 16.177 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.178 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.178 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.178 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.178 * [backup-simplify]: Simplify 0.5 into 0.5 16.178 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.178 * [backup-simplify]: Simplify phi1 into phi1 16.178 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.178 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.178 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.178 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.178 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.178 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.178 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.178 * [backup-simplify]: Simplify 0.5 into 0.5 16.178 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.178 * [backup-simplify]: Simplify phi1 into phi1 16.178 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.178 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.178 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.178 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.178 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.178 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.178 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.178 * [backup-simplify]: Simplify 0.5 into 0.5 16.178 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.179 * [backup-simplify]: Simplify phi2 into phi2 16.179 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.179 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.179 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.179 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.179 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.179 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.179 * [backup-simplify]: Simplify 0.5 into 0.5 16.179 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.179 * [backup-simplify]: Simplify phi2 into phi2 16.179 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.179 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.179 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.179 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.179 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.180 * [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)) 16.180 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.180 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.181 * [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)) 16.181 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.181 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.182 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.182 * [backup-simplify]: Simplify (- 0) into 0 16.182 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.182 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.182 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.182 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.183 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.183 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.183 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.183 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.183 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.183 * [backup-simplify]: Simplify (- 0) into 0 16.184 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.184 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.184 * [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)))) 16.184 * [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))))) 16.185 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.185 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.187 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.188 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 16.190 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 16.191 * [backup-simplify]: Simplify (+ 0) into 0 16.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.192 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.192 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.193 * [backup-simplify]: Simplify (+ 0 0) into 0 16.193 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.194 * [backup-simplify]: Simplify (+ 0) into 0 16.194 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.195 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.196 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.196 * [backup-simplify]: Simplify (+ 0 0) into 0 16.196 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.197 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.197 * [backup-simplify]: Simplify (+ 0) into 0 16.198 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.198 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.199 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.200 * [backup-simplify]: Simplify (- 0) into 0 16.200 * [backup-simplify]: Simplify (+ 0 0) into 0 16.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.201 * [backup-simplify]: Simplify (+ 0) into 0 16.201 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.203 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.203 * [backup-simplify]: Simplify (- 0) into 0 16.203 * [backup-simplify]: Simplify (+ 0 0) into 0 16.203 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.204 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.204 * [backup-simplify]: Simplify (+ 0 0) into 0 16.205 * [backup-simplify]: Simplify (+ 0) into 0 16.205 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.205 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.207 * [backup-simplify]: Simplify (- 0) into 0 16.207 * [backup-simplify]: Simplify (+ 0 0) into 0 16.208 * [backup-simplify]: Simplify (+ 0) into 0 16.208 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.209 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.210 * [backup-simplify]: Simplify (+ 0 0) into 0 16.211 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.211 * [backup-simplify]: Simplify (+ 0) into 0 16.212 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.212 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.213 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.213 * [backup-simplify]: Simplify (+ 0 0) into 0 16.214 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.214 * [backup-simplify]: Simplify (+ 0) into 0 16.215 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.215 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.216 * [backup-simplify]: Simplify (- 0) into 0 16.217 * [backup-simplify]: Simplify (+ 0 0) into 0 16.217 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.218 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.218 * [backup-simplify]: Simplify (- 0) into 0 16.219 * [backup-simplify]: Simplify (+ 0 0) into 0 16.222 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.223 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.224 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) in lambda2 16.224 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 16.224 * [taylor]: Taking taylor expansion of 3 in lambda2 16.224 * [backup-simplify]: Simplify 3 into 3 16.224 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 16.224 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 2))) in lambda2 16.224 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) in lambda2 16.224 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.224 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.224 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.224 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.224 * [backup-simplify]: Simplify 0.5 into 0.5 16.224 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.224 * [backup-simplify]: Simplify phi1 into phi1 16.224 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.224 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.224 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.225 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.225 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda2 16.225 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.225 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.225 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.225 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.225 * [backup-simplify]: Simplify 0.5 into 0.5 16.225 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.225 * [backup-simplify]: Simplify phi1 into phi1 16.225 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.225 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.225 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.225 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.226 * [backup-simplify]: Simplify (- 0) into 0 16.226 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.226 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.226 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.226 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.226 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.226 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.226 * [backup-simplify]: Simplify 0.5 into 0.5 16.226 * [taylor]: Taking taylor expansion of phi2 in lambda2 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)) 16.227 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.227 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.227 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.227 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.227 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.227 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.227 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.227 * [backup-simplify]: Simplify 0.5 into 0.5 16.227 * [taylor]: Taking taylor expansion of phi2 in lambda2 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)) 16.227 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.227 * [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 16.228 * [backup-simplify]: Simplify (- 0) into 0 16.228 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.228 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 16.228 * [taylor]: Taking taylor expansion of R in lambda2 16.228 * [backup-simplify]: Simplify R into R 16.228 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.228 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.228 * [backup-simplify]: Simplify 0 into 0 16.228 * [backup-simplify]: Simplify 1 into 1 16.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.229 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.229 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.230 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.230 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) 16.231 * [backup-simplify]: Simplify (* 1 1) into 1 16.231 * [backup-simplify]: Simplify (* R 1) into R 16.232 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) 16.232 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 16.232 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 16.232 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 16.232 * [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 16.232 * [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 16.232 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.232 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.232 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.232 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.232 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.232 * [backup-simplify]: Simplify 0.5 into 0.5 16.232 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.232 * [backup-simplify]: Simplify phi1 into phi1 16.232 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.232 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.233 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.233 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.233 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.233 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.233 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.233 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.233 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.233 * [backup-simplify]: Simplify 0.5 into 0.5 16.233 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.233 * [backup-simplify]: Simplify phi2 into phi2 16.233 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.233 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.234 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.234 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.234 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.234 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.234 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.234 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.234 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.234 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.234 * [backup-simplify]: Simplify 0.5 into 0.5 16.234 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.234 * [backup-simplify]: Simplify phi1 into phi1 16.234 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.234 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.234 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.235 * [backup-simplify]: Simplify (- 0) into 0 16.235 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.235 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.235 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.235 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.235 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.235 * [backup-simplify]: Simplify 0.5 into 0.5 16.235 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.235 * [backup-simplify]: Simplify phi2 into phi2 16.235 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.236 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.236 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.236 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.236 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.236 * [backup-simplify]: Simplify (- 0) into 0 16.236 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.236 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 16.236 * [taylor]: Taking taylor expansion of 2 in lambda2 16.237 * [backup-simplify]: Simplify 2 into 2 16.237 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.237 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.237 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.237 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.237 * [backup-simplify]: Simplify 0.5 into 0.5 16.237 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.237 * [backup-simplify]: Simplify phi1 into phi1 16.237 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.237 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.237 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.237 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.237 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.237 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.237 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.237 * [backup-simplify]: Simplify 0.5 into 0.5 16.237 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.237 * [backup-simplify]: Simplify phi1 into phi1 16.237 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.237 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.237 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.237 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.237 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.237 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.238 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.238 * [backup-simplify]: Simplify 0.5 into 0.5 16.238 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.238 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.238 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.238 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.238 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.238 * [backup-simplify]: Simplify 0.5 into 0.5 16.238 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.239 * [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)) 16.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.240 * [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)) 16.241 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.241 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.241 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.242 * [backup-simplify]: Simplify (- 0) into 0 16.242 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.242 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.242 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.242 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.242 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.242 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.242 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.243 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.243 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.243 * [backup-simplify]: Simplify (- 0) into 0 16.243 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.243 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.244 * [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)))) 16.244 * [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))))) 16.244 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.245 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.246 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.249 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 16.252 * [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))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 16.254 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 16.255 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 16.256 * [backup-simplify]: Simplify (+ 0) into 0 16.257 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.257 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.258 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.258 * [backup-simplify]: Simplify (+ 0 0) into 0 16.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.259 * [backup-simplify]: Simplify (+ 0) into 0 16.260 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.262 * [backup-simplify]: Simplify (+ 0 0) into 0 16.262 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.262 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.263 * [backup-simplify]: Simplify (+ 0) into 0 16.263 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.263 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.264 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.265 * [backup-simplify]: Simplify (- 0) into 0 16.266 * [backup-simplify]: Simplify (+ 0 0) into 0 16.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.266 * [backup-simplify]: Simplify (+ 0) into 0 16.267 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.267 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.268 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.268 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.269 * [backup-simplify]: Simplify (- 0) into 0 16.269 * [backup-simplify]: Simplify (+ 0 0) into 0 16.269 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.270 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.270 * [backup-simplify]: Simplify (+ 0 0) into 0 16.270 * [backup-simplify]: Simplify (+ 0) into 0 16.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.271 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.273 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.273 * [backup-simplify]: Simplify (- 0) into 0 16.273 * [backup-simplify]: Simplify (+ 0 0) into 0 16.274 * [backup-simplify]: Simplify (+ 0) into 0 16.274 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.274 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.276 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.276 * [backup-simplify]: Simplify (+ 0 0) into 0 16.276 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.277 * [backup-simplify]: Simplify (+ 0) into 0 16.277 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.277 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.278 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.279 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.279 * [backup-simplify]: Simplify (+ 0 0) into 0 16.280 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.280 * [backup-simplify]: Simplify (+ 0) into 0 16.281 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.281 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.282 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.283 * [backup-simplify]: Simplify (- 0) into 0 16.283 * [backup-simplify]: Simplify (+ 0 0) into 0 16.283 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.284 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.285 * [backup-simplify]: Simplify (- 0) into 0 16.285 * [backup-simplify]: Simplify (+ 0 0) into 0 16.288 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 16.292 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 16.295 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.297 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.297 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) in lambda2 16.297 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda2 16.302 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) in lambda2 16.302 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.302 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.302 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.302 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.302 * [backup-simplify]: Simplify 0.5 into 0.5 16.302 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.302 * [backup-simplify]: Simplify phi1 into phi1 16.302 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.302 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.302 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.302 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.302 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.302 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.302 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.302 * [backup-simplify]: Simplify 0.5 into 0.5 16.303 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.303 * [backup-simplify]: Simplify phi1 into phi1 16.303 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.303 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.303 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.303 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.303 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.303 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.303 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.303 * [backup-simplify]: Simplify 0.5 into 0.5 16.303 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.303 * [backup-simplify]: Simplify phi2 into phi2 16.303 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.303 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.303 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.303 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.303 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.303 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.303 * [backup-simplify]: Simplify 0.5 into 0.5 16.303 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.303 * [backup-simplify]: Simplify phi2 into phi2 16.304 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.304 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.304 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.304 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 16.304 * [taylor]: Taking taylor expansion of R in lambda2 16.304 * [backup-simplify]: Simplify R into R 16.304 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.304 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.304 * [backup-simplify]: Simplify 0 into 0 16.304 * [backup-simplify]: Simplify 1 into 1 16.304 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.304 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.304 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.304 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.305 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.305 * [backup-simplify]: Simplify (- 0) into 0 16.305 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.305 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.306 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.306 * [backup-simplify]: Simplify (- 0) into 0 16.306 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 16.307 * [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))))) 16.308 * [backup-simplify]: Simplify (* 1 1) into 1 16.308 * [backup-simplify]: Simplify (* R 1) into R 16.308 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 16.308 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda2 16.308 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda2 16.308 * [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 16.308 * [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 16.308 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.308 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.308 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.308 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.309 * [backup-simplify]: Simplify 0.5 into 0.5 16.309 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.309 * [backup-simplify]: Simplify phi1 into phi1 16.309 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 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 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.309 * [backup-simplify]: Simplify 0.5 into 0.5 16.309 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.309 * [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 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.310 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.310 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.310 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.310 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.310 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.310 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.310 * [backup-simplify]: Simplify 0.5 into 0.5 16.310 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.310 * [backup-simplify]: Simplify phi1 into phi1 16.310 * [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 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.312 * [backup-simplify]: Simplify (- 0) into 0 16.312 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.312 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.312 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.312 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.312 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.312 * [backup-simplify]: Simplify 0.5 into 0.5 16.312 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.312 * [backup-simplify]: Simplify phi2 into phi2 16.312 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.312 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.312 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 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 16.313 * [backup-simplify]: Simplify (- 0) into 0 16.313 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.313 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 16.313 * [taylor]: Taking taylor expansion of 2 in lambda2 16.313 * [backup-simplify]: Simplify 2 into 2 16.313 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.313 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.313 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.313 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.313 * [backup-simplify]: Simplify 0.5 into 0.5 16.313 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.313 * [backup-simplify]: Simplify phi1 into phi1 16.313 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.313 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.314 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.314 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.314 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.314 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.314 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.314 * [backup-simplify]: Simplify 0.5 into 0.5 16.314 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.314 * [backup-simplify]: Simplify phi1 into phi1 16.314 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.314 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.314 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.314 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.314 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.314 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.314 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.314 * [backup-simplify]: Simplify 0.5 into 0.5 16.314 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.314 * [backup-simplify]: Simplify phi2 into phi2 16.314 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.315 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.315 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.315 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.315 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.315 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.315 * [backup-simplify]: Simplify 0.5 into 0.5 16.315 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.315 * [backup-simplify]: Simplify phi2 into phi2 16.315 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.315 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.315 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.315 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.315 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.316 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.316 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.316 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.317 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 16.318 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.318 * [backup-simplify]: Simplify (- 0) into 0 16.319 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.319 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.319 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.319 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.319 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.320 * [backup-simplify]: Simplify (- 0) into 0 16.320 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.320 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.320 * [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)))) 16.321 * [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))))) 16.321 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.322 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.323 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.324 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 16.326 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 16.327 * [backup-simplify]: Simplify (+ 0) into 0 16.327 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.327 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.329 * [backup-simplify]: Simplify (+ 0 0) into 0 16.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.330 * [backup-simplify]: Simplify (+ 0) into 0 16.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.331 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.332 * [backup-simplify]: Simplify (+ 0 0) into 0 16.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.333 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.333 * [backup-simplify]: Simplify (+ 0) into 0 16.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.334 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.336 * [backup-simplify]: Simplify (- 0) into 0 16.336 * [backup-simplify]: Simplify (+ 0 0) into 0 16.336 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.337 * [backup-simplify]: Simplify (+ 0) into 0 16.337 * [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 16.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.339 * [backup-simplify]: Simplify (- 0) into 0 16.340 * [backup-simplify]: Simplify (+ 0 0) into 0 16.340 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.340 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.341 * [backup-simplify]: Simplify (+ 0 0) into 0 16.342 * [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 16.344 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.344 * [backup-simplify]: Simplify (- 0) into 0 16.344 * [backup-simplify]: Simplify (+ 0 0) into 0 16.345 * [backup-simplify]: Simplify (+ 0) into 0 16.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.346 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.346 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.347 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.347 * [backup-simplify]: Simplify (+ 0 0) into 0 16.347 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.348 * [backup-simplify]: Simplify (+ 0) into 0 16.348 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.349 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.350 * [backup-simplify]: Simplify (+ 0 0) into 0 16.351 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.351 * [backup-simplify]: Simplify (+ 0) into 0 16.352 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.354 * [backup-simplify]: Simplify (- 0) into 0 16.354 * [backup-simplify]: Simplify (+ 0 0) into 0 16.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.355 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.356 * [backup-simplify]: Simplify (- 0) into 0 16.356 * [backup-simplify]: Simplify (+ 0 0) into 0 16.359 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.361 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.361 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 16.361 * [taylor]: Taking taylor expansion of 1/2 in lambda2 16.361 * [backup-simplify]: Simplify 1/2 into 1/2 16.361 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 16.361 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) in lambda2 16.361 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) in lambda2 16.361 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 4) in lambda2 16.361 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.361 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.361 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.361 * [backup-simplify]: Simplify 0.5 into 0.5 16.361 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.361 * [backup-simplify]: Simplify phi1 into phi1 16.361 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.361 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.361 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.361 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.362 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.362 * [backup-simplify]: Simplify (- 0) into 0 16.362 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.362 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 4) in lambda2 16.362 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.362 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.362 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.362 * [backup-simplify]: Simplify 0.5 into 0.5 16.362 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.362 * [backup-simplify]: Simplify phi2 into phi2 16.363 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.363 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.363 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.363 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.363 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.363 * [backup-simplify]: Simplify (- 0) into 0 16.363 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.364 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) R) in lambda2 16.364 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 16.364 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.364 * [backup-simplify]: Simplify 0 into 0 16.364 * [backup-simplify]: Simplify 1 into 1 16.364 * [taylor]: Taking taylor expansion of R in lambda2 16.364 * [backup-simplify]: Simplify R into R 16.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.364 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4) 16.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.365 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4) 16.365 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) into (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) 16.366 * [backup-simplify]: Simplify (* 1 1) into 1 16.366 * [backup-simplify]: Simplify (* 1 R) into R 16.366 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) into (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) 16.366 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 16.366 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 16.366 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 16.366 * [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 16.366 * [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 16.366 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.366 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.366 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.366 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.366 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.366 * [backup-simplify]: Simplify 0.5 into 0.5 16.366 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.367 * [backup-simplify]: Simplify phi1 into phi1 16.367 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.367 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.367 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.367 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.367 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.367 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.367 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.367 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.367 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.367 * [backup-simplify]: Simplify 0.5 into 0.5 16.367 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.367 * [backup-simplify]: Simplify phi2 into phi2 16.367 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.367 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.368 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.368 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.368 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.368 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.368 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.368 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.368 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.368 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.368 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.368 * [backup-simplify]: Simplify 0.5 into 0.5 16.368 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.368 * [backup-simplify]: Simplify phi1 into phi1 16.368 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.368 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.368 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.368 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.369 * [backup-simplify]: Simplify (- 0) into 0 16.369 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.369 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.369 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.369 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.369 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.369 * [backup-simplify]: Simplify 0.5 into 0.5 16.369 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.369 * [backup-simplify]: Simplify phi2 into phi2 16.370 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.370 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.370 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.370 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.370 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.370 * [backup-simplify]: Simplify (- 0) into 0 16.370 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.371 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 16.371 * [taylor]: Taking taylor expansion of 2 in lambda2 16.371 * [backup-simplify]: Simplify 2 into 2 16.371 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.371 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.371 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.371 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.371 * [backup-simplify]: Simplify 0.5 into 0.5 16.371 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.371 * [backup-simplify]: Simplify phi1 into phi1 16.371 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.371 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.371 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.371 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.371 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.371 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.371 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.371 * [backup-simplify]: Simplify 0.5 into 0.5 16.371 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.371 * [backup-simplify]: Simplify phi1 into phi1 16.371 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.371 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.372 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.372 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.372 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.372 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.372 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.372 * [backup-simplify]: Simplify 0.5 into 0.5 16.372 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.372 * [backup-simplify]: Simplify phi2 into phi2 16.372 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.372 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.372 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.372 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.372 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.372 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.372 * [backup-simplify]: Simplify 0.5 into 0.5 16.372 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.372 * [backup-simplify]: Simplify phi2 into phi2 16.372 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.372 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.372 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.373 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.373 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.373 * [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)) 16.373 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.374 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.374 * [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)) 16.375 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.375 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.375 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.375 * [backup-simplify]: Simplify (- 0) into 0 16.376 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.376 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.376 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.376 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.376 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.376 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.376 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.376 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.376 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.377 * [backup-simplify]: Simplify (- 0) into 0 16.377 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.377 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.377 * [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)))) 16.378 * [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))))) 16.378 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.378 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.380 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.383 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 16.385 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 16.387 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 16.389 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 16.389 * [backup-simplify]: Simplify (+ 0) into 0 16.390 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.390 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.392 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.393 * [backup-simplify]: Simplify (+ 0 0) into 0 16.393 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.393 * [backup-simplify]: Simplify (+ 0) into 0 16.394 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.394 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.396 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.396 * [backup-simplify]: Simplify (+ 0 0) into 0 16.396 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.397 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.397 * [backup-simplify]: Simplify (+ 0) into 0 16.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.398 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.399 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.400 * [backup-simplify]: Simplify (- 0) into 0 16.400 * [backup-simplify]: Simplify (+ 0 0) into 0 16.400 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.401 * [backup-simplify]: Simplify (+ 0) into 0 16.401 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.402 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.403 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.403 * [backup-simplify]: Simplify (- 0) into 0 16.404 * [backup-simplify]: Simplify (+ 0 0) into 0 16.404 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.405 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.405 * [backup-simplify]: Simplify (+ 0 0) into 0 16.405 * [backup-simplify]: Simplify (+ 0) into 0 16.406 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.406 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.408 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.408 * [backup-simplify]: Simplify (- 0) into 0 16.408 * [backup-simplify]: Simplify (+ 0 0) into 0 16.409 * [backup-simplify]: Simplify (+ 0) into 0 16.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.410 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.411 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.412 * [backup-simplify]: Simplify (+ 0 0) into 0 16.412 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.412 * [backup-simplify]: Simplify (+ 0) into 0 16.413 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.413 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.414 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.415 * [backup-simplify]: Simplify (+ 0 0) into 0 16.415 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.415 * [backup-simplify]: Simplify (+ 0) into 0 16.416 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.416 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.417 * [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 16.419 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.419 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.420 * [backup-simplify]: Simplify (- 0) into 0 16.420 * [backup-simplify]: Simplify (+ 0 0) into 0 16.423 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 16.425 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 16.427 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.428 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.429 * [backup-simplify]: Simplify (+ 0) into 0 16.429 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.429 * [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 16.430 * [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 (cos (/ 0.5 phi2)))) into 0 16.431 * [backup-simplify]: Simplify (+ 0) into 0 16.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.432 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.433 * [backup-simplify]: Simplify (- 0) into 0 16.433 * [backup-simplify]: Simplify (+ 0 0) into 0 16.433 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.433 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.434 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.434 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 16.434 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (/ 0 R)))) into 0 16.435 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.436 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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)))))))))) 16.438 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 16.438 * [backup-simplify]: Simplify (+ 0) into 0 16.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.439 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.440 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.440 * [backup-simplify]: Simplify (+ 0 0) into 0 16.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.441 * [backup-simplify]: Simplify (+ 0) into 0 16.441 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.441 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.442 * [backup-simplify]: Simplify (+ 0 0) into 0 16.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.443 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.443 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.443 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 16.444 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (/ 0 R)))) into 0 16.446 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.448 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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)))))))))) 16.451 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 16.451 * [backup-simplify]: Simplify (+ 0) into 0 16.452 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.452 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.454 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.454 * [backup-simplify]: Simplify (- 0) into 0 16.455 * [backup-simplify]: Simplify (+ 0 0) into 0 16.455 * [backup-simplify]: Simplify (+ 0) into 0 16.456 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.457 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.458 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.458 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.459 * [backup-simplify]: Simplify (+ 0 0) into 0 16.459 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.459 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.459 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.460 * [backup-simplify]: Simplify (+ 0) into 0 16.460 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.461 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.461 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.462 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.462 * [backup-simplify]: Simplify (- 0) into 0 16.463 * [backup-simplify]: Simplify (+ 0 0) into 0 16.463 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) into 0 16.464 * [backup-simplify]: Simplify (+ 0) into 0 16.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.464 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.466 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.466 * [backup-simplify]: Simplify (+ 0 0) into 0 16.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.467 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0 16.467 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2)))))) into 0 16.468 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.468 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 16.469 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) (/ 0 R)))) into 0 16.472 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.474 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 16.482 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 16.483 * [backup-simplify]: Simplify (+ 0) into 0 16.484 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.484 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.485 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.486 * [backup-simplify]: Simplify (- 0) into 0 16.486 * [backup-simplify]: Simplify (+ 0 0) into 0 16.486 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.487 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.487 * [backup-simplify]: Simplify (+ 0) into 0 16.488 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.488 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.488 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.489 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.489 * [backup-simplify]: Simplify (+ 0 0) into 0 16.489 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 3))) into 0 16.490 * [backup-simplify]: Simplify (+ 0) into 0 16.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.490 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.491 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.491 * [backup-simplify]: Simplify (- 0) into 0 16.491 * [backup-simplify]: Simplify (+ 0 0) into 0 16.491 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.492 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0 16.492 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) into 0 16.492 * [backup-simplify]: Simplify (+ 0) into 0 16.493 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.493 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.494 * [backup-simplify]: Simplify (+ 0 0) into 0 16.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3))))) into 0 16.494 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.495 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 16.495 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) (/ 0 R)))) into 0 16.497 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.498 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 16.500 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 16.500 * [backup-simplify]: Simplify (+ 0 0) into 0 16.500 * [backup-simplify]: Simplify (+ 0 0) into 0 16.501 * [backup-simplify]: Simplify (+ 0 0) into 0 16.501 * [backup-simplify]: Simplify (+ 0 0) into 0 16.501 * [backup-simplify]: Simplify (+ 0 0) into 0 16.501 * [backup-simplify]: Simplify (+ 0) into 0 16.502 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.502 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.503 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.503 * [backup-simplify]: Simplify (+ 0 0) into 0 16.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.503 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.504 * [backup-simplify]: Simplify (+ 0) into 0 16.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.504 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.505 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.505 * [backup-simplify]: Simplify (+ 0 0) into 0 16.505 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.505 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0 16.506 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 4) 0) (* 0 (pow (sin (/ 0.5 phi2)) 4))) into 0 16.506 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.506 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 16.507 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) (/ 0 R)))) into 0 16.508 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.509 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 16.511 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 16.511 * [backup-simplify]: Simplify (+ 0) into 0 16.512 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.513 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.513 * [backup-simplify]: Simplify (- 0) into 0 16.514 * [backup-simplify]: Simplify (+ 0 0) into 0 16.514 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.514 * [backup-simplify]: Simplify (+ 0) into 0 16.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.514 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.515 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.516 * [backup-simplify]: Simplify (+ 0 0) into 0 16.516 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.516 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.516 * [backup-simplify]: Simplify (+ 0) into 0 16.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.517 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.519 * [backup-simplify]: Simplify (- 0) into 0 16.519 * [backup-simplify]: Simplify (+ 0 0) into 0 16.520 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.520 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) into 0 16.521 * [backup-simplify]: Simplify (+ 0) into 0 16.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.522 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.523 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.523 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.524 * [backup-simplify]: Simplify (+ 0 0) into 0 16.524 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.525 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2))))) into 0 16.525 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.526 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 16.527 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) (/ 0 R)))) into 0 16.530 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.533 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 16.536 * [backup-simplify]: Simplify (+ (* 3 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 16.537 * [backup-simplify]: Simplify (+ 0) into 0 16.538 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.538 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.539 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.540 * [backup-simplify]: Simplify (- 0) into 0 16.540 * [backup-simplify]: Simplify (+ 0 0) into 0 16.541 * [backup-simplify]: Simplify (+ 0) into 0 16.541 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.542 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.542 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.543 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.543 * [backup-simplify]: Simplify (+ 0 0) into 0 16.543 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.544 * [backup-simplify]: Simplify (+ 0) into 0 16.544 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.545 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.546 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.546 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.546 * [backup-simplify]: Simplify (- 0) into 0 16.547 * [backup-simplify]: Simplify (+ 0 0) into 0 16.547 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.548 * [backup-simplify]: Simplify (+ 0) into 0 16.548 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.548 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.549 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.550 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.550 * [backup-simplify]: Simplify (+ 0 0) into 0 16.550 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.551 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.552 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 16.552 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (/ 0 R)))) into 0 16.555 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.556 * [backup-simplify]: Simplify (+ 0) into 0 16.556 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.556 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.558 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.558 * [backup-simplify]: Simplify (- 0) into 0 16.559 * [backup-simplify]: Simplify (+ 0 0) into 0 16.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.559 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.560 * [backup-simplify]: Simplify (+ 0) into 0 16.560 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.560 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.562 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.562 * [backup-simplify]: Simplify (- 0) into 0 16.563 * [backup-simplify]: Simplify (+ 0 0) into 0 16.563 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.564 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0 16.564 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 4) 0) (* 0 (pow (cos (/ 0.5 phi2)) 4))) into 0 16.565 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 16.565 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 16.566 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) (/ 0 R)))) into 0 16.568 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 16.571 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 16.574 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 16.574 * [backup-simplify]: Simplify (+ 0 0) into 0 16.575 * [backup-simplify]: Simplify (+ 0 0) into 0 16.575 * [backup-simplify]: Simplify (+ 0 0) into 0 16.576 * [backup-simplify]: Simplify (+ 0 0) into 0 16.576 * [backup-simplify]: Simplify (- 0) into 0 16.576 * [backup-simplify]: Simplify (+ 0 0) into 0 16.576 * [taylor]: Taking taylor expansion of 0 in phi2 16.577 * [backup-simplify]: Simplify 0 into 0 16.577 * [backup-simplify]: Simplify (+ 0) into 0 16.578 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.578 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.579 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.580 * [backup-simplify]: Simplify (- 0) into 0 16.580 * [backup-simplify]: Simplify (+ 0 0) into 0 16.580 * [backup-simplify]: Simplify (+ 0) into 0 16.581 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.581 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.583 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.583 * [backup-simplify]: Simplify (+ 0 0) into 0 16.583 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.584 * [backup-simplify]: Simplify (+ 0) into 0 16.584 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.584 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.586 * [backup-simplify]: Simplify (- 0) into 0 16.587 * [backup-simplify]: Simplify (+ 0 0) into 0 16.587 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.587 * [backup-simplify]: Simplify (+ 0) into 0 16.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.588 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.589 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.590 * [backup-simplify]: Simplify (+ 0 0) into 0 16.590 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.591 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0 16.591 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (/ 0 R)))) into 0 16.594 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.596 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 16.597 * [backup-simplify]: Simplify (+ 0) into 0 16.598 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.598 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.599 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.600 * [backup-simplify]: Simplify (+ 0 0) into 0 16.600 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.600 * [backup-simplify]: Simplify (+ 0) into 0 16.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.601 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.603 * [backup-simplify]: Simplify (+ 0 0) into 0 16.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.604 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.605 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0 16.605 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (/ 0 R)))) into 0 16.607 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.608 * [backup-simplify]: Simplify (+ 0) into 0 16.609 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.609 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.610 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.611 * [backup-simplify]: Simplify (- 0) into 0 16.611 * [backup-simplify]: Simplify (+ 0 0) into 0 16.611 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.612 * [backup-simplify]: Simplify (+ 0) into 0 16.612 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.612 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.613 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.614 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.614 * [backup-simplify]: Simplify (- 0) into 0 16.614 * [backup-simplify]: Simplify (+ 0 0) into 0 16.615 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.615 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.616 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 R))) into 0 16.617 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (/ 0 R)))) into 0 16.619 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.619 * [backup-simplify]: Simplify (+ 0 0) into 0 16.619 * [backup-simplify]: Simplify (- 0) into 0 16.620 * [backup-simplify]: Simplify (+ 0 0) into 0 16.620 * [taylor]: Taking taylor expansion of 0 in phi2 16.620 * [backup-simplify]: Simplify 0 into 0 16.620 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0 16.622 * [backup-simplify]: Simplify (+ (* (/ 1 R) 0) (* 0 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 16.622 * [taylor]: Taking taylor expansion of 0 in phi2 16.622 * [backup-simplify]: Simplify 0 into 0 16.624 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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)))))))))) 16.626 * [backup-simplify]: Simplify (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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))))))))))) 16.629 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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)))))))))) 16.631 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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)))))))))) 16.635 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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))))))))))) 16.640 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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)))))))))))) 16.647 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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 (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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 (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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)))))))))))) 16.652 * [taylor]: Taking taylor expansion of (- (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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 (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) in phi1 16.653 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1 16.653 * [taylor]: Taking taylor expansion of 2 in phi1 16.653 * [backup-simplify]: Simplify 2 into 2 16.653 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1 16.653 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) in phi1 16.653 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.653 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.653 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.653 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.653 * [backup-simplify]: Simplify 0.5 into 0.5 16.653 * [taylor]: Taking taylor expansion of phi1 in phi1 16.653 * [backup-simplify]: Simplify 0 into 0 16.653 * [backup-simplify]: Simplify 1 into 1 16.654 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.654 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.654 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.654 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.654 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.654 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.654 * [backup-simplify]: Simplify 0.5 into 0.5 16.654 * [taylor]: Taking taylor expansion of phi1 in phi1 16.654 * [backup-simplify]: Simplify 0 into 0 16.654 * [backup-simplify]: Simplify 1 into 1 16.655 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.655 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.655 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 16.655 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.655 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) 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 phi2 in phi1 16.655 * [backup-simplify]: Simplify phi2 into phi2 16.655 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.655 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.655 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.655 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.655 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) 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 phi2 in phi1 16.656 * [backup-simplify]: Simplify phi2 into phi2 16.656 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.656 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.656 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.656 * [taylor]: Taking taylor expansion of R in phi1 16.656 * [backup-simplify]: Simplify R into R 16.656 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.656 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.656 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.656 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.656 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.657 * [backup-simplify]: Simplify (- 0) into 0 16.657 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.657 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.657 * [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)))) 16.658 * [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))))) 16.658 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 16.658 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1 16.658 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1 16.658 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 16.658 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 16.658 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.658 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.658 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.658 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.658 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.658 * [backup-simplify]: Simplify 0.5 into 0.5 16.658 * [taylor]: Taking taylor expansion of phi1 in phi1 16.658 * [backup-simplify]: Simplify 0 into 0 16.658 * [backup-simplify]: Simplify 1 into 1 16.659 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.659 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.659 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.659 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.659 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) 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 phi2 in phi1 16.659 * [backup-simplify]: Simplify phi2 into phi2 16.659 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.659 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.660 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.660 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.660 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.660 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.660 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.660 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.660 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.660 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.660 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.660 * [backup-simplify]: Simplify 0.5 into 0.5 16.660 * [taylor]: Taking taylor expansion of phi1 in phi1 16.660 * [backup-simplify]: Simplify 0 into 0 16.660 * [backup-simplify]: Simplify 1 into 1 16.661 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.661 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.661 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.661 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.661 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) 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 phi2 in phi1 16.661 * [backup-simplify]: Simplify phi2 into phi2 16.661 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.661 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.661 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.661 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.661 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.662 * [backup-simplify]: Simplify (- 0) into 0 16.662 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.662 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 16.662 * [taylor]: Taking taylor expansion of 2 in phi1 16.662 * [backup-simplify]: Simplify 2 into 2 16.662 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.662 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.662 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.662 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.662 * [backup-simplify]: Simplify 0.5 into 0.5 16.662 * [taylor]: Taking taylor expansion of phi1 in phi1 16.662 * [backup-simplify]: Simplify 0 into 0 16.662 * [backup-simplify]: Simplify 1 into 1 16.663 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.663 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.663 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.663 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.663 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.663 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.663 * [backup-simplify]: Simplify 0.5 into 0.5 16.663 * [taylor]: Taking taylor expansion of phi1 in phi1 16.663 * [backup-simplify]: Simplify 0 into 0 16.663 * [backup-simplify]: Simplify 1 into 1 16.663 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.664 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.664 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 16.664 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.664 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) 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 phi2 in phi1 16.664 * [backup-simplify]: Simplify phi2 into phi2 16.664 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.664 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.664 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.664 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.664 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) 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 phi2 in phi1 16.664 * [backup-simplify]: Simplify phi2 into phi2 16.664 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.664 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.664 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.665 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.665 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.665 * [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)) 16.665 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.666 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.666 * [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)) 16.667 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.667 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.667 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.667 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.667 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.667 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.668 * [backup-simplify]: Simplify (- 0) into 0 16.668 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.668 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.668 * [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)))) 16.669 * [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))))) 16.669 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.669 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.671 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.672 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 16.674 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 16.675 * [backup-simplify]: Simplify (+ 0) into 0 16.675 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.675 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.677 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.677 * [backup-simplify]: Simplify (+ 0 0) into 0 16.677 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.678 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.678 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.678 * [backup-simplify]: Simplify (+ 0) into 0 16.679 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.679 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.681 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.681 * [backup-simplify]: Simplify (- 0) into 0 16.681 * [backup-simplify]: Simplify (+ 0 0) into 0 16.682 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.682 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.682 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.683 * [backup-simplify]: Simplify (+ 0 0) into 0 16.683 * [backup-simplify]: Simplify (+ 0) into 0 16.684 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.684 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.685 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.686 * [backup-simplify]: Simplify (- 0) into 0 16.686 * [backup-simplify]: Simplify (+ 0 0) into 0 16.686 * [backup-simplify]: Simplify (+ 0) into 0 16.687 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.687 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.688 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.689 * [backup-simplify]: Simplify (+ 0 0) into 0 16.689 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.689 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.690 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.691 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.691 * [backup-simplify]: Simplify (- 0) into 0 16.691 * [backup-simplify]: Simplify (+ 0 0) into 0 16.694 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.696 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.696 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1 16.696 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1 16.696 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) in phi1 16.696 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.696 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.696 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.696 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.696 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.697 * [backup-simplify]: Simplify 0.5 into 0.5 16.697 * [taylor]: Taking taylor expansion of phi1 in phi1 16.697 * [backup-simplify]: Simplify 0 into 0 16.697 * [backup-simplify]: Simplify 1 into 1 16.697 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.697 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.697 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.697 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.697 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.697 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.697 * [backup-simplify]: Simplify 0.5 into 0.5 16.698 * [taylor]: Taking taylor expansion of phi2 in phi1 16.698 * [backup-simplify]: Simplify phi2 into phi2 16.698 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.698 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.698 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.698 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.698 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.698 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.698 * [taylor]: Taking taylor expansion of R in phi1 16.698 * [backup-simplify]: Simplify R into R 16.698 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.699 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.699 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.699 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 16.699 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1 16.699 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1 16.700 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 16.700 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 16.700 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.700 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.700 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.700 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.700 * [backup-simplify]: Simplify 0.5 into 0.5 16.700 * [taylor]: Taking taylor expansion of phi1 in phi1 16.700 * [backup-simplify]: Simplify 0 into 0 16.700 * [backup-simplify]: Simplify 1 into 1 16.700 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.701 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.701 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.701 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.701 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.701 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.701 * [backup-simplify]: Simplify 0.5 into 0.5 16.701 * [taylor]: Taking taylor expansion of phi2 in phi1 16.701 * [backup-simplify]: Simplify phi2 into phi2 16.701 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.701 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.701 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.701 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.701 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.701 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.701 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.701 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.701 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.702 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.702 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.702 * [backup-simplify]: Simplify 0.5 into 0.5 16.702 * [taylor]: Taking taylor expansion of phi1 in phi1 16.702 * [backup-simplify]: Simplify 0 into 0 16.702 * [backup-simplify]: Simplify 1 into 1 16.702 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.702 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.702 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.702 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.702 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.702 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.702 * [backup-simplify]: Simplify 0.5 into 0.5 16.702 * [taylor]: Taking taylor expansion of phi2 in phi1 16.703 * [backup-simplify]: Simplify phi2 into phi2 16.703 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.703 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.703 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.703 * [backup-simplify]: Simplify (- 0) into 0 16.704 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.704 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 16.704 * [taylor]: Taking taylor expansion of 2 in phi1 16.704 * [backup-simplify]: Simplify 2 into 2 16.704 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.704 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.704 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.704 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.704 * [backup-simplify]: Simplify 0.5 into 0.5 16.704 * [taylor]: Taking taylor expansion of phi1 in phi1 16.704 * [backup-simplify]: Simplify 0 into 0 16.704 * [backup-simplify]: Simplify 1 into 1 16.704 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.704 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.704 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.705 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.705 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.705 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.705 * [backup-simplify]: Simplify 0.5 into 0.5 16.705 * [taylor]: Taking taylor expansion of phi1 in phi1 16.705 * [backup-simplify]: Simplify 0 into 0 16.705 * [backup-simplify]: Simplify 1 into 1 16.705 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.705 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.705 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 16.705 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.705 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.705 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.705 * [backup-simplify]: Simplify 0.5 into 0.5 16.705 * [taylor]: Taking taylor expansion of phi2 in phi1 16.706 * [backup-simplify]: Simplify phi2 into phi2 16.706 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.706 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.706 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.706 * [backup-simplify]: Simplify 0.5 into 0.5 16.706 * [taylor]: Taking taylor expansion of phi2 in phi1 16.706 * [backup-simplify]: Simplify phi2 into phi2 16.706 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.707 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.707 * [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)) 16.707 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.707 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.708 * [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)) 16.708 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.709 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.710 * [backup-simplify]: Simplify (- 0) into 0 16.710 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.710 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.710 * [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)))) 16.711 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 16.711 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.711 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.712 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.714 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 16.714 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 16.715 * [backup-simplify]: Simplify (+ 0) into 0 16.715 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.715 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.716 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.716 * [backup-simplify]: Simplify (+ 0 0) into 0 16.716 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.717 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.717 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.717 * [backup-simplify]: Simplify (+ 0) into 0 16.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.718 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.718 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.719 * [backup-simplify]: Simplify (- 0) into 0 16.719 * [backup-simplify]: Simplify (+ 0 0) into 0 16.719 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.719 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.719 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.720 * [backup-simplify]: Simplify (+ 0 0) into 0 16.720 * [backup-simplify]: Simplify (+ 0) into 0 16.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.720 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.721 * [backup-simplify]: Simplify (- 0) into 0 16.722 * [backup-simplify]: Simplify (+ 0 0) into 0 16.722 * [backup-simplify]: Simplify (+ 0) into 0 16.722 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.722 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.723 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.724 * [backup-simplify]: Simplify (+ 0 0) into 0 16.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.724 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.725 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.725 * [backup-simplify]: Simplify (- 0) into 0 16.725 * [backup-simplify]: Simplify (+ 0 0) into 0 16.727 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.728 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.728 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1 16.728 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) in phi1 16.728 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.728 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.728 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.728 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.728 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.728 * [backup-simplify]: Simplify 0.5 into 0.5 16.728 * [taylor]: Taking taylor expansion of phi1 in phi1 16.728 * [backup-simplify]: Simplify 0 into 0 16.728 * [backup-simplify]: Simplify 1 into 1 16.728 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.728 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.728 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.728 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.728 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.728 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.728 * [backup-simplify]: Simplify 0.5 into 0.5 16.728 * [taylor]: Taking taylor expansion of phi2 in phi1 16.728 * [backup-simplify]: Simplify phi2 into phi2 16.728 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.728 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.728 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.729 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.729 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.729 * [backup-simplify]: Simplify (- 0) into 0 16.729 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.729 * [taylor]: Taking taylor expansion of R in phi1 16.729 * [backup-simplify]: Simplify R into R 16.729 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.729 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.729 * [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)) 16.730 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 16.730 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1 16.730 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1 16.730 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 16.730 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 16.730 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.730 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.730 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.730 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.730 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.730 * [backup-simplify]: Simplify 0.5 into 0.5 16.730 * [taylor]: Taking taylor expansion of phi1 in phi1 16.730 * [backup-simplify]: Simplify 0 into 0 16.730 * [backup-simplify]: Simplify 1 into 1 16.730 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.730 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.730 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.730 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.731 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.731 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.731 * [backup-simplify]: Simplify 0.5 into 0.5 16.731 * [taylor]: Taking taylor expansion of phi2 in phi1 16.731 * [backup-simplify]: Simplify phi2 into phi2 16.731 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.731 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.731 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.731 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.731 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.731 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.731 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.731 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.731 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.731 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.731 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.731 * [backup-simplify]: Simplify 0.5 into 0.5 16.731 * [taylor]: Taking taylor expansion of phi1 in phi1 16.731 * [backup-simplify]: Simplify 0 into 0 16.731 * [backup-simplify]: Simplify 1 into 1 16.731 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.731 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.731 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.731 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.732 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.732 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.732 * [backup-simplify]: Simplify 0.5 into 0.5 16.732 * [taylor]: Taking taylor expansion of phi2 in phi1 16.732 * [backup-simplify]: Simplify phi2 into phi2 16.732 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.732 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.732 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.732 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.732 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.732 * [backup-simplify]: Simplify (- 0) into 0 16.732 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.732 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 16.732 * [taylor]: Taking taylor expansion of 2 in phi1 16.732 * [backup-simplify]: Simplify 2 into 2 16.732 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.732 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.732 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.732 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.732 * [backup-simplify]: Simplify 0.5 into 0.5 16.732 * [taylor]: Taking taylor expansion of phi1 in phi1 16.732 * [backup-simplify]: Simplify 0 into 0 16.732 * [backup-simplify]: Simplify 1 into 1 16.733 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.733 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.733 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.733 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.733 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.733 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.733 * [backup-simplify]: Simplify 0.5 into 0.5 16.733 * [taylor]: Taking taylor expansion of phi1 in phi1 16.733 * [backup-simplify]: Simplify 0 into 0 16.733 * [backup-simplify]: Simplify 1 into 1 16.733 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.733 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.733 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 16.733 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.733 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.733 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.733 * [backup-simplify]: Simplify 0.5 into 0.5 16.733 * [taylor]: Taking taylor expansion of phi2 in phi1 16.733 * [backup-simplify]: Simplify phi2 into phi2 16.733 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.733 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.734 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.734 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.734 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.734 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.734 * [backup-simplify]: Simplify 0.5 into 0.5 16.734 * [taylor]: Taking taylor expansion of phi2 in phi1 16.734 * [backup-simplify]: Simplify phi2 into phi2 16.734 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.734 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.734 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.734 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.734 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.734 * [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)) 16.734 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.734 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.735 * [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)) 16.735 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.735 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.735 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.735 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.735 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.735 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.736 * [backup-simplify]: Simplify (- 0) into 0 16.736 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.736 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.736 * [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)))) 16.736 * [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))))) 16.736 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.737 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.737 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.738 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 16.739 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 16.739 * [backup-simplify]: Simplify (+ 0) into 0 16.740 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.740 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.741 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.741 * [backup-simplify]: Simplify (+ 0 0) into 0 16.741 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.741 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.741 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.742 * [backup-simplify]: Simplify (+ 0) into 0 16.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.742 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.742 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.743 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.743 * [backup-simplify]: Simplify (- 0) into 0 16.743 * [backup-simplify]: Simplify (+ 0 0) into 0 16.743 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.743 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.744 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.744 * [backup-simplify]: Simplify (+ 0 0) into 0 16.744 * [backup-simplify]: Simplify (+ 0) into 0 16.745 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.745 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.745 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.745 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.746 * [backup-simplify]: Simplify (- 0) into 0 16.746 * [backup-simplify]: Simplify (+ 0 0) into 0 16.746 * [backup-simplify]: Simplify (+ 0) into 0 16.746 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.747 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.747 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.747 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.748 * [backup-simplify]: Simplify (+ 0 0) into 0 16.748 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.748 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.748 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.749 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.749 * [backup-simplify]: Simplify (- 0) into 0 16.749 * [backup-simplify]: Simplify (+ 0 0) into 0 16.751 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.752 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 16.753 * [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)))))))) (/ 1 R)) into (* (/ 1 R) (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 16.753 * [taylor]: Taking taylor expansion of (* (/ 1 R) (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1 16.753 * [taylor]: Taking taylor expansion of (/ 1 R) in phi1 16.753 * [taylor]: Taking taylor expansion of R in phi1 16.753 * [backup-simplify]: Simplify R into R 16.753 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 16.753 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1 16.753 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 16.753 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 16.753 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 16.753 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 16.753 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.753 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.753 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.753 * [backup-simplify]: Simplify 0.5 into 0.5 16.753 * [taylor]: Taking taylor expansion of phi1 in phi1 16.753 * [backup-simplify]: Simplify 0 into 0 16.753 * [backup-simplify]: Simplify 1 into 1 16.753 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.753 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.753 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 16.753 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.753 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.753 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.754 * [backup-simplify]: Simplify 0.5 into 0.5 16.754 * [taylor]: Taking taylor expansion of phi2 in phi1 16.754 * [backup-simplify]: Simplify phi2 into phi2 16.754 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.754 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.754 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.754 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.754 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.754 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.754 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 16.754 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 16.754 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.754 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.754 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.754 * [backup-simplify]: Simplify 0.5 into 0.5 16.754 * [taylor]: Taking taylor expansion of phi1 in phi1 16.754 * [backup-simplify]: Simplify 0 into 0 16.754 * [backup-simplify]: Simplify 1 into 1 16.754 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.754 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.754 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 16.754 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.754 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.754 * [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 phi2 in phi1 16.755 * [backup-simplify]: Simplify phi2 into phi2 16.755 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.755 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.755 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.755 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.755 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.755 * [backup-simplify]: Simplify (- 0) into 0 16.755 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.755 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 16.755 * [taylor]: Taking taylor expansion of 2 in phi1 16.755 * [backup-simplify]: Simplify 2 into 2 16.755 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 16.755 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 16.755 * [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 16.756 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.756 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.756 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 16.756 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 16.756 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 16.756 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.756 * [backup-simplify]: Simplify 0.5 into 0.5 16.756 * [taylor]: Taking taylor expansion of phi1 in phi1 16.756 * [backup-simplify]: Simplify 0 into 0 16.756 * [backup-simplify]: Simplify 1 into 1 16.756 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 16.756 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.756 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 16.756 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 16.756 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.756 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.756 * [backup-simplify]: Simplify 0.5 into 0.5 16.756 * [taylor]: Taking taylor expansion of phi2 in phi1 16.756 * [backup-simplify]: Simplify phi2 into phi2 16.756 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.756 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.756 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.756 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 16.757 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 16.757 * [taylor]: Taking taylor expansion of 0.5 in phi1 16.757 * [backup-simplify]: Simplify 0.5 into 0.5 16.757 * [taylor]: Taking taylor expansion of phi2 in phi1 16.757 * [backup-simplify]: Simplify phi2 into phi2 16.757 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.757 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.757 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.757 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.757 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.757 * [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)) 16.757 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.757 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.758 * [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)) 16.758 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.758 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.758 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.758 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.758 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.758 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.759 * [backup-simplify]: Simplify (- 0) into 0 16.759 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.759 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.759 * [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)))) 16.759 * [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))))) 16.759 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.760 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.760 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.761 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 16.762 * [backup-simplify]: Simplify (+ 0) into 0 16.762 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.762 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.763 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.763 * [backup-simplify]: Simplify (+ 0 0) into 0 16.763 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.763 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.764 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.764 * [backup-simplify]: Simplify (+ 0) into 0 16.764 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.764 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.765 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.765 * [backup-simplify]: Simplify (- 0) into 0 16.766 * [backup-simplify]: Simplify (+ 0 0) into 0 16.766 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.766 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 16.766 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 16.766 * [backup-simplify]: Simplify (+ 0 0) into 0 16.767 * [backup-simplify]: Simplify (+ 0) into 0 16.767 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.767 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.768 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.768 * [backup-simplify]: Simplify (- 0) into 0 16.768 * [backup-simplify]: Simplify (+ 0 0) into 0 16.768 * [backup-simplify]: Simplify (+ 0) into 0 16.769 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.770 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.770 * [backup-simplify]: Simplify (+ 0 0) into 0 16.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 16.770 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 16.770 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 16.771 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 16.771 * [backup-simplify]: Simplify (- 0) into 0 16.771 * [backup-simplify]: Simplify (+ 0 0) into 0 16.773 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 16.774 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 16.774 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 16.775 * [backup-simplify]: Simplify (- 0) into 0 16.775 * [backup-simplify]: Simplify (+ 0 0) into 0 16.776 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 16.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 16.777 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 16.779 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 16.780 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 16.780 * [backup-simplify]: Simplify (- 0) into 0 16.780 * [backup-simplify]: Simplify (+ 0 0) into 0 16.781 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 16.782 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 16.782 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 16.784 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 16.785 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 16.785 * [backup-simplify]: Simplify (- 0) into 0 16.786 * [backup-simplify]: Simplify (+ 0 0) into 0 16.786 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0 16.787 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 16.788 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 16.788 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 16.790 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 16.791 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 16.795 * [backup-simplify]: Simplify (+ 0 0) into 0 16.797 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 16.797 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 16.798 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 16.799 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 16.800 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 16.800 * [backup-simplify]: Simplify (+ 0 0) into 0 16.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2)))))) into 0 16.801 * [backup-simplify]: Simplify (- 0) into 0 16.802 * [backup-simplify]: Simplify (+ 0 0) into 0 16.803 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0 16.804 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 16.804 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 16.805 * [backup-simplify]: Simplify (- 0) into 0 16.805 * [backup-simplify]: Simplify (+ 0 0) into 0 16.806 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 16.807 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 16.807 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 16.809 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 16.809 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 16.810 * [backup-simplify]: Simplify (- 0) into 0 16.810 * [backup-simplify]: Simplify (+ 0 0) into 0 16.811 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 16.812 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 16.812 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 16.814 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 16.814 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 16.815 * [backup-simplify]: Simplify (- 0) into 0 16.815 * [backup-simplify]: Simplify (+ 0 0) into 0 16.816 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0 16.817 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 16.818 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 16.818 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 16.820 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 16.821 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 16.821 * [backup-simplify]: Simplify (+ 0 0) into 0 16.822 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 16.823 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 16.823 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 16.825 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 16.826 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 16.827 * [backup-simplify]: Simplify (+ 0 0) into 0 16.828 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2)))))) into 0 16.828 * [backup-simplify]: Simplify (- 0) into 0 16.828 * [backup-simplify]: Simplify (+ 0 0) into 0 16.830 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (+ (* 0 0) (+ (* 0 (- (/ 1 lambda2))) (* 0 1)))) into 0 16.831 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) 0) (+ (* (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2)) 0) (+ (* 0 (- (/ (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) lambda2) (/ (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) lambda2))) (* 0 (- (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))))))) into 0 16.832 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 16.832 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 16.832 * [backup-simplify]: Simplify (- 0) into 0 16.833 * [backup-simplify]: Simplify (+ 0 0) into 0 16.833 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 16.833 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 16.834 * [backup-simplify]: Simplify (- 0) into 0 16.835 * [backup-simplify]: Simplify (+ 0 0) into 0 16.835 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi1) (/ 1 phi2)) 0) (* 0 (- (/ 1 phi1) (/ 1 phi2)))) into 0 16.835 * [backup-simplify]: Simplify (+ 0 0) into 0 16.866 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* 1/2 (* (- (* 4 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) lambda2)) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) lambda2)) (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 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))))))))))) (* 1/2 (* (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ 1 (pow phi2 2)) (* 4 (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))))))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 5 (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* 1/2 (* (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) (* lambda2 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* 20 (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) (+ (* 6 (/ (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow phi1 2)))) (+ (* 6 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* 6 (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* 4 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda2 phi1))))))))))))))) (+ (* 15 (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* phi2 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (* 4 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* 4 (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* lambda2 (* phi1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (* 15 (/ (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda2)))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda2 (pow phi1 2))))) (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))))))))))))) (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))))))))))) 16.975 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) (* lambda2 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* 20 (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) (+ (* 6 (/ (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow phi1 2)))) (+ (* 6 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* 6 (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* (pow phi2 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* 4 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda2 phi1))))))))))))))) (+ (* 15 (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) (+ (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (+ (* 2 (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* phi1 (* phi2 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (* 4 (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* 4 (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* (pow lambda2 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* 2 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* lambda2 (* phi1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (* 15 (/ (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda2)))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda2 (pow phi1 2))))) (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))))))))))))) (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))))))))))) R) (+ (* (* (/ 1 R) (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))))))))) (/ 0 R)) (* (- (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R 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))))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 R)) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (/ 0 R)) (* (- (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow lambda2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))))) (/ 0 R)))) into (- (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 10 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) (* R lambda2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi2 (* phi1 (* lambda2 R)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))))))))))) 16.977 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 10 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) (* R lambda2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi2 (* phi1 (* lambda2 R)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))))))))))) in lambda2 16.977 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 3 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 10 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))))))))) in lambda2 16.977 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 16.977 * [taylor]: Taking taylor expansion of 1/2 in lambda2 16.977 * [backup-simplify]: Simplify 1/2 into 1/2 16.977 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 16.977 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) (* lambda2 R))) in lambda2 16.977 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.977 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.977 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.978 * [backup-simplify]: Simplify 0.5 into 0.5 16.978 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.978 * [backup-simplify]: Simplify phi1 into phi1 16.978 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.978 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.978 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.978 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.978 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.978 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.978 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.978 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.978 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.978 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.978 * [backup-simplify]: Simplify 0.5 into 0.5 16.978 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.978 * [backup-simplify]: Simplify phi2 into phi2 16.978 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.978 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.978 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.978 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.978 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.978 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.978 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* lambda2 R)) in lambda2 16.978 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 16.978 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.979 * [backup-simplify]: Simplify phi2 into phi2 16.979 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2 16.979 * [taylor]: Taking taylor expansion of lambda2 in lambda2 16.979 * [backup-simplify]: Simplify 0 into 0 16.979 * [backup-simplify]: Simplify 1 into 1 16.979 * [taylor]: Taking taylor expansion of R in lambda2 16.979 * [backup-simplify]: Simplify R into R 16.979 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.979 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.979 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 16.979 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 16.979 * [backup-simplify]: Simplify (* 0 R) into 0 16.979 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 16.980 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 16.980 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 16.980 * [backup-simplify]: Simplify (+ (* (pow phi2 2) R) (* 0 0)) into (* (pow phi2 2) R) 16.981 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) 16.981 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 16.981 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 16.981 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 16.981 * [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 16.981 * [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 16.981 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 16.981 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 16.981 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.981 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.981 * [backup-simplify]: Simplify 0.5 into 0.5 16.981 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.981 * [backup-simplify]: Simplify phi1 into phi1 16.981 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.981 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.981 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.981 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.981 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 16.981 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.981 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.981 * [backup-simplify]: Simplify 0.5 into 0.5 16.981 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.981 * [backup-simplify]: Simplify phi2 into phi2 16.981 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.981 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.982 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.982 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.982 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 16.982 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 16.982 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.982 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.982 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.982 * [backup-simplify]: Simplify 0.5 into 0.5 16.982 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.982 * [backup-simplify]: Simplify phi1 into phi1 16.982 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.982 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.982 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.982 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.982 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.982 * [backup-simplify]: Simplify (- 0) into 0 16.983 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.983 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 16.983 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.983 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.983 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.983 * [backup-simplify]: Simplify 0.5 into 0.5 16.983 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.983 * [backup-simplify]: Simplify phi2 into phi2 16.983 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.983 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.983 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.983 * [backup-simplify]: Simplify (- 0) into 0 16.983 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.983 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 16.983 * [taylor]: Taking taylor expansion of 2 in lambda2 16.983 * [backup-simplify]: Simplify 2 into 2 16.983 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 16.983 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 16.983 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.983 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.983 * [backup-simplify]: Simplify 0.5 into 0.5 16.983 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.983 * [backup-simplify]: Simplify phi1 into phi1 16.984 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.984 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.984 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.984 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 16.984 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 16.984 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 16.984 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.984 * [backup-simplify]: Simplify 0.5 into 0.5 16.984 * [taylor]: Taking taylor expansion of phi1 in lambda2 16.984 * [backup-simplify]: Simplify phi1 into phi1 16.984 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 16.984 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 16.984 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 16.984 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 16.984 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 16.984 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.984 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.984 * [backup-simplify]: Simplify 0.5 into 0.5 16.984 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.984 * [backup-simplify]: Simplify phi2 into phi2 16.984 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.984 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.984 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.984 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 16.984 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 16.984 * [taylor]: Taking taylor expansion of 0.5 in lambda2 16.984 * [backup-simplify]: Simplify 0.5 into 0.5 16.984 * [taylor]: Taking taylor expansion of phi2 in lambda2 16.984 * [backup-simplify]: Simplify phi2 into phi2 16.984 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 16.984 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 16.984 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 16.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 16.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 16.985 * [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)) 16.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 16.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 16.985 * [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)) 16.986 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 16.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 16.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 16.986 * [backup-simplify]: Simplify (- 0) into 0 16.986 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 16.987 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 16.987 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 16.987 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 16.987 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 16.987 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 16.987 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 16.987 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 16.987 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 16.987 * [backup-simplify]: Simplify (- 0) into 0 16.987 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 16.987 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 16.988 * [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)))) 16.988 * [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))))) 16.988 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 16.988 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.989 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 16.991 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 16.992 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 16.993 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 16.994 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 16.995 * [backup-simplify]: Simplify (+ 0) into 0 16.995 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 16.995 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 16.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 16.996 * [backup-simplify]: Simplify (+ 0 0) into 0 16.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 16.997 * [backup-simplify]: Simplify (+ 0) into 0 16.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 16.997 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 16.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 16.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 16.999 * [backup-simplify]: Simplify (+ 0 0) into 0 16.999 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 16.999 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 16.999 * [backup-simplify]: Simplify (+ 0) into 0 17.000 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.000 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.001 * [backup-simplify]: Simplify (- 0) into 0 17.001 * [backup-simplify]: Simplify (+ 0 0) into 0 17.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.001 * [backup-simplify]: Simplify (+ 0) into 0 17.002 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.002 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.003 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.003 * [backup-simplify]: Simplify (- 0) into 0 17.003 * [backup-simplify]: Simplify (+ 0 0) into 0 17.003 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.004 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.004 * [backup-simplify]: Simplify (+ 0 0) into 0 17.004 * [backup-simplify]: Simplify (+ 0) into 0 17.005 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.005 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.006 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.007 * [backup-simplify]: Simplify (- 0) into 0 17.007 * [backup-simplify]: Simplify (+ 0 0) into 0 17.008 * [backup-simplify]: Simplify (+ 0) into 0 17.008 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.008 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.009 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.010 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.010 * [backup-simplify]: Simplify (+ 0 0) into 0 17.011 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.011 * [backup-simplify]: Simplify (+ 0) into 0 17.012 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.012 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.013 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.013 * [backup-simplify]: Simplify (+ 0 0) into 0 17.014 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.014 * [backup-simplify]: Simplify (+ 0) into 0 17.014 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.015 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.016 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.016 * [backup-simplify]: Simplify (- 0) into 0 17.016 * [backup-simplify]: Simplify (+ 0 0) into 0 17.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.017 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.018 * [backup-simplify]: Simplify (- 0) into 0 17.018 * [backup-simplify]: Simplify (+ 0 0) into 0 17.021 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.023 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.026 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.028 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.028 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 10 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))))))))) in lambda2 17.028 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) in lambda2 17.028 * [taylor]: Taking taylor expansion of 3 in lambda2 17.028 * [backup-simplify]: Simplify 3 into 3 17.028 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) in lambda2 17.029 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) (* R (pow lambda2 3))) in lambda2 17.029 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) in lambda2 17.029 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) 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 phi1 in lambda2 17.029 * [backup-simplify]: Simplify phi1 into phi1 17.029 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.029 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.029 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.029 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5))) in lambda2 17.029 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 5) in lambda2 17.029 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) 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 phi1 in lambda2 17.029 * [backup-simplify]: Simplify phi1 into phi1 17.029 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.029 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.029 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.029 * [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 17.030 * [backup-simplify]: Simplify (- 0) into 0 17.030 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.030 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)) in lambda2 17.030 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) 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 phi2 in lambda2 17.030 * [backup-simplify]: Simplify phi2 into phi2 17.030 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.031 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.031 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 5) 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)) 17.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.031 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.031 * [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 (* R (pow lambda2 3)) in lambda2 17.032 * [taylor]: Taking taylor expansion of R in lambda2 17.032 * [backup-simplify]: Simplify R into R 17.032 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 17.032 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.032 * [backup-simplify]: Simplify 0 into 0 17.032 * [backup-simplify]: Simplify 1 into 1 17.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.032 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.032 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.032 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.033 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4) 17.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 4)) into (pow (cos (/ 0.5 phi1)) 5) 17.033 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.033 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.034 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4) 17.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 4)) into (pow (cos (/ 0.5 phi2)) 5) 17.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)) into (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)) 17.034 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5))) into (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5))) 17.035 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) into (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) 17.036 * [backup-simplify]: Simplify (* 1 1) into 1 17.036 * [backup-simplify]: Simplify (* 1 1) into 1 17.036 * [backup-simplify]: Simplify (* R 1) into R 17.037 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) R) into (/ (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) R) 17.037 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) in lambda2 17.037 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) in lambda2 17.037 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) in lambda2 17.037 * [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 17.037 * [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 17.037 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.037 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.037 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.037 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.037 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.037 * [backup-simplify]: Simplify 0.5 into 0.5 17.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.037 * [backup-simplify]: Simplify phi1 into phi1 17.037 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.037 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.038 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.038 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.038 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.038 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.038 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.038 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.038 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.038 * [backup-simplify]: Simplify 0.5 into 0.5 17.038 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.038 * [backup-simplify]: Simplify phi2 into phi2 17.038 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.038 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.038 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.039 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.039 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.039 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.039 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.039 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.039 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.039 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.039 * [backup-simplify]: Simplify 0.5 into 0.5 17.039 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.039 * [backup-simplify]: Simplify phi1 into phi1 17.039 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.039 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.039 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.039 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.040 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.041 * [backup-simplify]: Simplify (- 0) into 0 17.041 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.041 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.041 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.041 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.041 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.041 * [backup-simplify]: Simplify 0.5 into 0.5 17.041 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.041 * [backup-simplify]: Simplify phi2 into phi2 17.041 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.041 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.042 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.042 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.042 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.042 * [backup-simplify]: Simplify (- 0) into 0 17.042 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.043 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.043 * [taylor]: Taking taylor expansion of 2 in lambda2 17.043 * [backup-simplify]: Simplify 2 into 2 17.043 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.043 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.043 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.043 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.043 * [backup-simplify]: Simplify 0.5 into 0.5 17.043 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.043 * [backup-simplify]: Simplify phi1 into phi1 17.043 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.043 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.043 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.043 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.043 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.043 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.043 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.043 * [backup-simplify]: Simplify 0.5 into 0.5 17.043 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.043 * [backup-simplify]: Simplify phi1 into phi1 17.043 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.044 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.044 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.044 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.044 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.044 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.044 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.044 * [backup-simplify]: Simplify 0.5 into 0.5 17.044 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.044 * [backup-simplify]: Simplify phi2 into phi2 17.044 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.044 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.044 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.044 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.044 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.044 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.044 * [backup-simplify]: Simplify 0.5 into 0.5 17.044 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.044 * [backup-simplify]: Simplify phi2 into phi2 17.045 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.045 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.045 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.045 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.045 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.046 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.046 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.046 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.046 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.047 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) 17.047 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.047 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.052 * [backup-simplify]: Simplify (- 0) into 0 17.052 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.052 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.052 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.052 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.052 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.053 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.053 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.053 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.053 * [backup-simplify]: Simplify (- 0) into 0 17.054 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.054 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.054 * [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)))) 17.054 * [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))))) 17.055 * [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)))))) 17.055 * [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))))))) 17.057 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 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))))))) 17.060 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.063 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4) 17.067 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) 17.068 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) 17.070 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) 17.071 * [backup-simplify]: Simplify (+ 0) into 0 17.071 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.072 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.072 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.073 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.073 * [backup-simplify]: Simplify (+ 0 0) into 0 17.074 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.074 * [backup-simplify]: Simplify (+ 0) into 0 17.075 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.075 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.076 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.077 * [backup-simplify]: Simplify (+ 0 0) into 0 17.077 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.077 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.078 * [backup-simplify]: Simplify (+ 0) into 0 17.078 * [backup-simplify]: Simplify (+ (* (cos (/ 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 17.080 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.080 * [backup-simplify]: Simplify (- 0) into 0 17.081 * [backup-simplify]: Simplify (+ 0 0) into 0 17.081 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.081 * [backup-simplify]: Simplify (+ 0) into 0 17.082 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.082 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.083 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.084 * [backup-simplify]: Simplify (- 0) into 0 17.084 * [backup-simplify]: Simplify (+ 0 0) into 0 17.084 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.085 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.085 * [backup-simplify]: Simplify (+ 0 0) into 0 17.086 * [backup-simplify]: Simplify (+ 0) into 0 17.086 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.086 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.088 * [backup-simplify]: Simplify (- 0) into 0 17.088 * [backup-simplify]: Simplify (+ 0 0) into 0 17.089 * [backup-simplify]: Simplify (+ 0) into 0 17.089 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.090 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.091 * [backup-simplify]: Simplify (+ 0 0) into 0 17.091 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.092 * [backup-simplify]: Simplify (+ 0) into 0 17.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.093 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.094 * [backup-simplify]: Simplify (+ 0 0) into 0 17.094 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.095 * [backup-simplify]: Simplify (+ 0) into 0 17.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.096 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.096 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.097 * [backup-simplify]: Simplify (- 0) into 0 17.098 * [backup-simplify]: Simplify (+ 0 0) into 0 17.098 * [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 (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.099 * [backup-simplify]: Simplify (- 0) into 0 17.099 * [backup-simplify]: Simplify (+ 0 0) into 0 17.102 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.105 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.108 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4))) into 0 17.112 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 17.114 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 17.114 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 10 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))))))) in lambda2 17.114 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 17.114 * [taylor]: Taking taylor expansion of 1/2 in lambda2 17.114 * [backup-simplify]: Simplify 1/2 into 1/2 17.114 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 17.114 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi1 2)))) in lambda2 17.114 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.114 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.114 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.114 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.114 * [backup-simplify]: Simplify 0.5 into 0.5 17.114 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.115 * [backup-simplify]: Simplify phi1 into phi1 17.115 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.115 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.115 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.115 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.115 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.115 * [backup-simplify]: Simplify 0.5 into 0.5 17.115 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.115 * [backup-simplify]: Simplify phi2 into phi2 17.115 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.116 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.116 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.116 * [taylor]: Taking taylor expansion of (* lambda2 (* R (pow phi1 2))) in lambda2 17.116 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.116 * [backup-simplify]: Simplify 0 into 0 17.116 * [backup-simplify]: Simplify 1 into 1 17.116 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in lambda2 17.116 * [taylor]: Taking taylor expansion of R in lambda2 17.116 * [backup-simplify]: Simplify R into R 17.116 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 17.116 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.116 * [backup-simplify]: Simplify phi1 into phi1 17.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.117 * [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)) 17.117 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 17.117 * [backup-simplify]: Simplify (* R (pow phi1 2)) into (* (pow phi1 2) R) 17.117 * [backup-simplify]: Simplify (* 0 (* (pow phi1 2) R)) into 0 17.117 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 17.117 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (pow phi1 2))) into 0 17.118 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow phi1 2) R))) into (* R (pow phi1 2)) 17.119 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) 17.119 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 17.119 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 17.119 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 17.119 * [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 17.119 * [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 17.119 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.119 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.119 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.119 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.119 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.119 * [backup-simplify]: Simplify 0.5 into 0.5 17.119 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.119 * [backup-simplify]: Simplify phi1 into phi1 17.119 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.119 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.119 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.120 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.120 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.120 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.120 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.120 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.120 * [backup-simplify]: Simplify 0.5 into 0.5 17.120 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.120 * [backup-simplify]: Simplify phi2 into phi2 17.120 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.120 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.120 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.121 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.121 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.121 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.121 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.121 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.121 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.121 * [backup-simplify]: Simplify 0.5 into 0.5 17.121 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.121 * [backup-simplify]: Simplify phi1 into phi1 17.121 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.121 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.121 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.122 * [backup-simplify]: Simplify (- 0) into 0 17.122 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.122 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.122 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.122 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.122 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.122 * [backup-simplify]: Simplify 0.5 into 0.5 17.122 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.122 * [backup-simplify]: Simplify phi2 into phi2 17.122 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.122 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.122 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.123 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.123 * [backup-simplify]: Simplify (- 0) into 0 17.123 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.123 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.123 * [taylor]: Taking taylor expansion of 2 in lambda2 17.123 * [backup-simplify]: Simplify 2 into 2 17.123 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.123 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.123 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.123 * [backup-simplify]: Simplify 0.5 into 0.5 17.123 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.123 * [backup-simplify]: Simplify phi1 into phi1 17.123 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.123 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.124 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.124 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.124 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.124 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.124 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.124 * [backup-simplify]: Simplify 0.5 into 0.5 17.124 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.124 * [backup-simplify]: Simplify phi1 into phi1 17.124 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.124 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.124 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.124 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.124 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.124 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.124 * [backup-simplify]: Simplify 0.5 into 0.5 17.124 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.124 * [backup-simplify]: Simplify phi2 into phi2 17.124 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.124 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.124 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.125 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.125 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.125 * [backup-simplify]: Simplify 0.5 into 0.5 17.125 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.125 * [backup-simplify]: Simplify phi2 into phi2 17.125 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.125 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.125 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.125 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.125 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.126 * [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)) 17.126 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.126 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.126 * [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)) 17.127 * [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))) 17.127 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.127 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.128 * [backup-simplify]: Simplify (- 0) into 0 17.128 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.128 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.128 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.128 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.128 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.128 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.129 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.129 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.129 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.129 * [backup-simplify]: Simplify (- 0) into 0 17.129 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.129 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.130 * [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)))) 17.130 * [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))))) 17.130 * [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)))))) 17.131 * [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))))))) 17.132 * [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))))))) 17.135 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.138 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 17.139 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 17.141 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 17.142 * [backup-simplify]: Simplify (+ 0) into 0 17.142 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.142 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.144 * [backup-simplify]: Simplify (+ 0 0) into 0 17.144 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.145 * [backup-simplify]: Simplify (+ 0) into 0 17.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.145 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 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 (sin (/ 0.5 phi1)))) into 0 17.148 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.148 * [backup-simplify]: Simplify (+ 0) into 0 17.149 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.149 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.150 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.151 * [backup-simplify]: Simplify (- 0) into 0 17.151 * [backup-simplify]: Simplify (+ 0 0) into 0 17.151 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.152 * [backup-simplify]: Simplify (+ 0) into 0 17.152 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.152 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.154 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.154 * [backup-simplify]: Simplify (- 0) into 0 17.154 * [backup-simplify]: Simplify (+ 0 0) into 0 17.155 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.155 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.155 * [backup-simplify]: Simplify (+ 0 0) into 0 17.156 * [backup-simplify]: Simplify (+ 0) into 0 17.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.157 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.158 * [backup-simplify]: Simplify (- 0) into 0 17.159 * [backup-simplify]: Simplify (+ 0 0) into 0 17.159 * [backup-simplify]: Simplify (+ 0) into 0 17.160 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.160 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.161 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.162 * [backup-simplify]: Simplify (+ 0 0) into 0 17.162 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.162 * [backup-simplify]: Simplify (+ 0) into 0 17.163 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.163 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.164 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.165 * [backup-simplify]: Simplify (+ 0 0) into 0 17.165 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.166 * [backup-simplify]: Simplify (+ 0) into 0 17.166 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.167 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.168 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.168 * [backup-simplify]: Simplify (- 0) into 0 17.169 * [backup-simplify]: Simplify (+ 0 0) into 0 17.169 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.170 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.170 * [backup-simplify]: Simplify (- 0) into 0 17.171 * [backup-simplify]: Simplify (+ 0 0) into 0 17.174 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.177 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.181 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.183 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.183 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 10 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))))))) in lambda2 17.183 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) in lambda2 17.183 * [taylor]: Taking taylor expansion of 3 in lambda2 17.183 * [backup-simplify]: Simplify 3 into 3 17.183 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) in lambda2 17.183 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) in lambda2 17.183 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) in lambda2 17.183 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 5) in lambda2 17.183 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.183 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.183 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.183 * [backup-simplify]: Simplify 0.5 into 0.5 17.183 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.183 * [backup-simplify]: Simplify phi1 into phi1 17.183 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.184 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.184 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.184 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.184 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.184 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2)))) in lambda2 17.184 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.184 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.184 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.184 * [backup-simplify]: Simplify 0.5 into 0.5 17.184 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.184 * [backup-simplify]: Simplify phi1 into phi1 17.184 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.184 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.185 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))) in lambda2 17.185 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 5) in lambda2 17.185 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.185 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.185 * [backup-simplify]: Simplify 0.5 into 0.5 17.185 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.185 * [backup-simplify]: Simplify phi2 into phi2 17.185 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.185 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.185 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.185 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.185 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.185 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.185 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.185 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.186 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.186 * [backup-simplify]: Simplify 0.5 into 0.5 17.186 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.186 * [backup-simplify]: Simplify phi2 into phi2 17.186 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.186 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.186 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.186 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2 17.186 * [taylor]: Taking taylor expansion of R in lambda2 17.186 * [backup-simplify]: Simplify R into R 17.186 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 17.186 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.186 * [backup-simplify]: Simplify 0 into 0 17.186 * [backup-simplify]: Simplify 1 into 1 17.186 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.187 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4) 17.187 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 4)) into (pow (sin (/ 0.5 phi1)) 5) 17.187 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.187 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.188 * [backup-simplify]: Simplify (- 0) into 0 17.188 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.188 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.188 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4) 17.189 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 4)) into (pow (sin (/ 0.5 phi2)) 5) 17.189 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.189 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.189 * [backup-simplify]: Simplify (- 0) into 0 17.189 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.190 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))) into (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))) 17.190 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2)))) 17.191 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 5) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) 17.191 * [backup-simplify]: Simplify (* 1 1) into 1 17.191 * [backup-simplify]: Simplify (* 1 1) into 1 17.191 * [backup-simplify]: Simplify (* R 1) into R 17.192 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) R) into (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) R) 17.192 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) in lambda2 17.192 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) in lambda2 17.192 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) in lambda2 17.192 * [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 17.192 * [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 17.192 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.192 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.193 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.193 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.193 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.193 * [backup-simplify]: Simplify 0.5 into 0.5 17.193 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.193 * [backup-simplify]: Simplify phi1 into phi1 17.193 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.193 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.193 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.193 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.193 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.193 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.193 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.193 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.193 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.193 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.193 * [backup-simplify]: Simplify 0.5 into 0.5 17.193 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.194 * [backup-simplify]: Simplify phi2 into phi2 17.194 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.194 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.194 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.194 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.194 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.194 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.194 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.194 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.194 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.194 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.194 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.194 * [backup-simplify]: Simplify 0.5 into 0.5 17.194 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.194 * [backup-simplify]: Simplify phi1 into phi1 17.194 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.195 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.195 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.195 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.195 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.195 * [backup-simplify]: Simplify (- 0) into 0 17.196 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.196 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.196 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.196 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.196 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.196 * [backup-simplify]: Simplify 0.5 into 0.5 17.196 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.196 * [backup-simplify]: Simplify phi2 into phi2 17.196 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.196 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.196 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.196 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.197 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.197 * [backup-simplify]: Simplify (- 0) into 0 17.197 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.197 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.197 * [taylor]: Taking taylor expansion of 2 in lambda2 17.197 * [backup-simplify]: Simplify 2 into 2 17.197 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.197 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.197 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.197 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.197 * [backup-simplify]: Simplify 0.5 into 0.5 17.197 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.197 * [backup-simplify]: Simplify phi1 into phi1 17.197 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.198 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.198 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.198 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.198 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.198 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.198 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.198 * [backup-simplify]: Simplify 0.5 into 0.5 17.198 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.198 * [backup-simplify]: Simplify phi1 into phi1 17.198 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.198 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.198 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.198 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.198 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.198 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.198 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.198 * [backup-simplify]: Simplify 0.5 into 0.5 17.198 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.198 * [backup-simplify]: Simplify phi2 into phi2 17.198 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.199 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.199 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.199 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.199 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.199 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.199 * [backup-simplify]: Simplify 0.5 into 0.5 17.199 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.199 * [backup-simplify]: Simplify phi2 into phi2 17.199 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.199 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.199 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.199 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.199 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.200 * [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)) 17.200 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.200 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.201 * [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)) 17.201 * [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))) 17.202 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.202 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.202 * [backup-simplify]: Simplify (- 0) into 0 17.202 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.202 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.203 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.203 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.203 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.203 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.203 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.204 * [backup-simplify]: Simplify (- 0) into 0 17.204 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.204 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.204 * [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)))) 17.205 * [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))))) 17.205 * [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)))))) 17.206 * [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))))))) 17.207 * [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))))))) 17.209 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.212 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4) 17.215 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) 17.216 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) 17.218 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) 17.219 * [backup-simplify]: Simplify (+ 0) into 0 17.219 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.219 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.221 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.221 * [backup-simplify]: Simplify (+ 0 0) into 0 17.221 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.221 * [backup-simplify]: Simplify (+ 0) into 0 17.222 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.222 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.222 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.223 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.223 * [backup-simplify]: Simplify (+ 0 0) into 0 17.223 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.223 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.224 * [backup-simplify]: Simplify (+ 0) into 0 17.224 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.224 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.225 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.225 * [backup-simplify]: Simplify (- 0) into 0 17.226 * [backup-simplify]: Simplify (+ 0 0) into 0 17.226 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.226 * [backup-simplify]: Simplify (+ 0) into 0 17.230 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.230 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.231 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.231 * [backup-simplify]: Simplify (- 0) into 0 17.232 * [backup-simplify]: Simplify (+ 0 0) into 0 17.232 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.232 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.232 * [backup-simplify]: Simplify (+ 0 0) into 0 17.233 * [backup-simplify]: Simplify (+ 0) into 0 17.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.233 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.234 * [backup-simplify]: Simplify (- 0) into 0 17.234 * [backup-simplify]: Simplify (+ 0 0) into 0 17.235 * [backup-simplify]: Simplify (+ 0) into 0 17.235 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.235 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.236 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.236 * [backup-simplify]: Simplify (+ 0 0) into 0 17.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.237 * [backup-simplify]: Simplify (+ 0) into 0 17.237 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.237 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.238 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.238 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.238 * [backup-simplify]: Simplify (+ 0 0) into 0 17.238 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.239 * [backup-simplify]: Simplify (+ 0) into 0 17.239 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.239 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.240 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.240 * [backup-simplify]: Simplify (- 0) into 0 17.240 * [backup-simplify]: Simplify (+ 0 0) into 0 17.241 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.241 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.241 * [backup-simplify]: Simplify (- 0) into 0 17.242 * [backup-simplify]: Simplify (+ 0 0) into 0 17.243 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.245 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.247 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4))) into 0 17.250 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 17.251 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 17.251 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 10 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))))) in lambda2 17.251 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 17.251 * [taylor]: Taking taylor expansion of 1/2 in lambda2 17.251 * [backup-simplify]: Simplify 1/2 into 1/2 17.251 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 17.251 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) in lambda2 17.251 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) in lambda2 17.251 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 4) in lambda2 17.251 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.251 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.251 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.251 * [backup-simplify]: Simplify 0.5 into 0.5 17.251 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.251 * [backup-simplify]: Simplify phi1 into phi1 17.251 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.251 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.252 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.252 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.252 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.252 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.252 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 4) in lambda2 17.252 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.252 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.252 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.252 * [backup-simplify]: Simplify 0.5 into 0.5 17.252 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.252 * [backup-simplify]: Simplify phi2 into phi2 17.252 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.252 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.252 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.252 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.252 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.252 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.252 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) R) in lambda2 17.252 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 17.252 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.252 * [backup-simplify]: Simplify 0 into 0 17.252 * [backup-simplify]: Simplify 1 into 1 17.252 * [taylor]: Taking taylor expansion of R in lambda2 17.252 * [backup-simplify]: Simplify R into R 17.253 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.253 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4) 17.253 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.253 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4) 17.253 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) into (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) 17.254 * [backup-simplify]: Simplify (* 1 1) into 1 17.254 * [backup-simplify]: Simplify (* 1 1) into 1 17.254 * [backup-simplify]: Simplify (* 1 R) into R 17.254 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) into (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) 17.254 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 17.254 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 17.254 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 17.255 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda2 17.255 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda2 17.255 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.255 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.255 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.255 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.255 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.255 * [backup-simplify]: Simplify 0.5 into 0.5 17.255 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.255 * [backup-simplify]: Simplify phi1 into phi1 17.255 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.255 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.255 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.255 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.255 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.255 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.255 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.255 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.255 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.255 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.255 * [backup-simplify]: Simplify 0.5 into 0.5 17.255 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.255 * [backup-simplify]: Simplify phi2 into phi2 17.255 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.255 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.255 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.255 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.256 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.256 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.256 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.256 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.256 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.256 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.256 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.256 * [backup-simplify]: Simplify 0.5 into 0.5 17.256 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.256 * [backup-simplify]: Simplify phi1 into phi1 17.256 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.256 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.256 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.256 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.256 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.257 * [backup-simplify]: Simplify (- 0) into 0 17.257 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.257 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.257 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.257 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.257 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.257 * [backup-simplify]: Simplify 0.5 into 0.5 17.257 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.257 * [backup-simplify]: Simplify phi2 into phi2 17.257 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.257 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.257 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.257 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.257 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.258 * [backup-simplify]: Simplify (- 0) into 0 17.258 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.258 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.258 * [taylor]: Taking taylor expansion of 2 in lambda2 17.258 * [backup-simplify]: Simplify 2 into 2 17.258 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.258 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.258 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.258 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.258 * [backup-simplify]: Simplify 0.5 into 0.5 17.258 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.258 * [backup-simplify]: Simplify phi1 into phi1 17.258 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.258 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.259 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.259 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.259 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.259 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.259 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.259 * [backup-simplify]: Simplify 0.5 into 0.5 17.259 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.259 * [backup-simplify]: Simplify phi1 into phi1 17.259 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.259 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.259 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.259 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.259 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.259 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.259 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.259 * [backup-simplify]: Simplify 0.5 into 0.5 17.259 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.259 * [backup-simplify]: Simplify phi2 into phi2 17.259 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.259 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.260 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.260 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.260 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.260 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.260 * [backup-simplify]: Simplify 0.5 into 0.5 17.260 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.260 * [backup-simplify]: Simplify phi2 into phi2 17.260 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.260 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.260 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.260 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.260 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.261 * [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)) 17.261 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.261 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.261 * [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)) 17.262 * [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))) 17.262 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.263 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.263 * [backup-simplify]: Simplify (- 0) into 0 17.263 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.263 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.263 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.264 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.264 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.264 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.264 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.264 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.264 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.265 * [backup-simplify]: Simplify (- 0) into 0 17.265 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.265 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.265 * [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)))) 17.265 * [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))))) 17.266 * [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)))))) 17.266 * [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))))))) 17.268 * [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))))))) 17.271 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.274 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 17.275 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 17.277 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 17.277 * [backup-simplify]: Simplify (+ 0) into 0 17.278 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.278 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.279 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.280 * [backup-simplify]: Simplify (+ 0 0) into 0 17.280 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.281 * [backup-simplify]: Simplify (+ 0) into 0 17.281 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.281 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.283 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.283 * [backup-simplify]: Simplify (+ 0 0) into 0 17.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.284 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.284 * [backup-simplify]: Simplify (+ 0) into 0 17.284 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.285 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.285 * [backup-simplify]: Simplify (- 0) into 0 17.286 * [backup-simplify]: Simplify (+ 0 0) into 0 17.286 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.286 * [backup-simplify]: Simplify (+ 0) into 0 17.286 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.287 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.287 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.287 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.288 * [backup-simplify]: Simplify (- 0) into 0 17.288 * [backup-simplify]: Simplify (+ 0 0) into 0 17.288 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.288 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.288 * [backup-simplify]: Simplify (+ 0 0) into 0 17.289 * [backup-simplify]: Simplify (+ 0) into 0 17.289 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.289 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.290 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.290 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.290 * [backup-simplify]: Simplify (- 0) into 0 17.290 * [backup-simplify]: Simplify (+ 0 0) into 0 17.291 * [backup-simplify]: Simplify (+ 0) into 0 17.291 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.291 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.292 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.292 * [backup-simplify]: Simplify (+ 0 0) into 0 17.292 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.293 * [backup-simplify]: Simplify (+ 0) into 0 17.293 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.293 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.294 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.294 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.294 * [backup-simplify]: Simplify (+ 0 0) into 0 17.294 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.295 * [backup-simplify]: Simplify (+ 0) into 0 17.295 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.295 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.296 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.296 * [backup-simplify]: Simplify (- 0) into 0 17.296 * [backup-simplify]: Simplify (+ 0 0) into 0 17.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.298 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.298 * [backup-simplify]: Simplify (- 0) into 0 17.298 * [backup-simplify]: Simplify (+ 0 0) into 0 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))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.301 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.303 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.304 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.304 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 10 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))))) in lambda2 17.304 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 17.304 * [taylor]: Taking taylor expansion of 2 in lambda2 17.304 * [backup-simplify]: Simplify 2 into 2 17.304 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 17.304 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R (* lambda2 phi1)))) in lambda2 17.304 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.304 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.304 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.304 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.304 * [backup-simplify]: Simplify 0.5 into 0.5 17.304 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.304 * [backup-simplify]: Simplify phi1 into phi1 17.305 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.305 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.305 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.305 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.305 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.305 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.305 * [backup-simplify]: Simplify 0.5 into 0.5 17.305 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.305 * [backup-simplify]: Simplify phi1 into phi1 17.305 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.305 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.305 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.305 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.305 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.305 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.305 * [backup-simplify]: Simplify 0.5 into 0.5 17.305 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.305 * [backup-simplify]: Simplify phi2 into phi2 17.305 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.305 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.305 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.305 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.305 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.305 * [backup-simplify]: Simplify 0.5 into 0.5 17.305 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.305 * [backup-simplify]: Simplify phi2 into phi2 17.305 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.305 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.305 * [taylor]: Taking taylor expansion of (* phi2 (* R (* lambda2 phi1))) in lambda2 17.305 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.305 * [backup-simplify]: Simplify phi2 into phi2 17.305 * [taylor]: Taking taylor expansion of (* R (* lambda2 phi1)) in lambda2 17.305 * [taylor]: Taking taylor expansion of R in lambda2 17.306 * [backup-simplify]: Simplify R into R 17.306 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 17.306 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.306 * [backup-simplify]: Simplify 0 into 0 17.306 * [backup-simplify]: Simplify 1 into 1 17.306 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.306 * [backup-simplify]: Simplify phi1 into phi1 17.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.306 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.306 * [backup-simplify]: Simplify (- 0) into 0 17.306 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.307 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.307 * [backup-simplify]: Simplify (- 0) into 0 17.307 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 17.307 * [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))))) 17.307 * [backup-simplify]: Simplify (* 0 phi1) into 0 17.308 * [backup-simplify]: Simplify (* R 0) into 0 17.308 * [backup-simplify]: Simplify (* phi2 0) into 0 17.308 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 17.308 * [backup-simplify]: Simplify (+ (* R phi1) (* 0 0)) into (* R phi1) 17.308 * [backup-simplify]: Simplify (+ (* phi2 (* R phi1)) (* 0 0)) into (* phi2 (* R phi1)) 17.309 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) into (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) 17.309 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 17.309 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 17.309 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 17.309 * [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 17.309 * [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 17.309 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.309 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.309 * [backup-simplify]: Simplify 0.5 into 0.5 17.309 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.309 * [backup-simplify]: Simplify phi1 into phi1 17.309 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.309 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.309 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.309 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.309 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.309 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.309 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.309 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.309 * [backup-simplify]: Simplify 0.5 into 0.5 17.309 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.309 * [backup-simplify]: Simplify phi2 into phi2 17.309 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 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)) into (cos (/ 0.5 phi2)) 17.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.310 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.310 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 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) 17.310 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.310 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.310 * [backup-simplify]: Simplify (- 0) into 0 17.310 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.311 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.311 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.311 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.311 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.311 * [backup-simplify]: Simplify 0.5 into 0.5 17.311 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.311 * [backup-simplify]: Simplify phi2 into phi2 17.311 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.311 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.311 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.311 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.311 * [backup-simplify]: Simplify (- 0) into 0 17.311 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.311 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.311 * [taylor]: Taking taylor expansion of 2 in lambda2 17.311 * [backup-simplify]: Simplify 2 into 2 17.311 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.311 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.311 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.311 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.311 * [backup-simplify]: Simplify 0.5 into 0.5 17.311 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.311 * [backup-simplify]: Simplify phi1 into phi1 17.311 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.312 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.312 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.312 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.312 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.312 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) 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 phi1 in lambda2 17.312 * [backup-simplify]: Simplify phi1 into phi1 17.312 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.312 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.312 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.312 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.312 * [taylor]: Taking taylor expansion of (sin (/ 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 (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.312 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 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 (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.313 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.313 * [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)) 17.313 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.313 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.313 * [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)) 17.314 * [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))) 17.314 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.314 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.314 * [backup-simplify]: Simplify (- 0) into 0 17.314 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.314 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.314 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.314 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.314 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.314 * [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 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.315 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.315 * [backup-simplify]: Simplify (- 0) into 0 17.315 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.315 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.315 * [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)))) 17.315 * [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))))) 17.316 * [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)))))) 17.316 * [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))))))) 17.317 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 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))))))) 17.320 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.323 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 17.325 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 17.327 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 17.328 * [backup-simplify]: Simplify (+ 0) into 0 17.328 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.328 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.329 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.330 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.330 * [backup-simplify]: Simplify (+ 0 0) into 0 17.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.331 * [backup-simplify]: Simplify (+ 0) into 0 17.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.331 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.333 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.333 * [backup-simplify]: Simplify (+ 0 0) into 0 17.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.334 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.334 * [backup-simplify]: Simplify (+ 0) into 0 17.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.336 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.337 * [backup-simplify]: Simplify (- 0) into 0 17.337 * [backup-simplify]: Simplify (+ 0 0) into 0 17.337 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.338 * [backup-simplify]: Simplify (+ 0) into 0 17.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.339 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.339 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.340 * [backup-simplify]: Simplify (- 0) into 0 17.341 * [backup-simplify]: Simplify (+ 0 0) into 0 17.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.341 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.342 * [backup-simplify]: Simplify (+ 0 0) into 0 17.342 * [backup-simplify]: Simplify (+ 0) into 0 17.343 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.343 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.344 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.344 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.345 * [backup-simplify]: Simplify (- 0) into 0 17.345 * [backup-simplify]: Simplify (+ 0 0) into 0 17.346 * [backup-simplify]: Simplify (+ 0) into 0 17.346 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.347 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.348 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.349 * [backup-simplify]: Simplify (+ 0 0) into 0 17.349 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.349 * [backup-simplify]: Simplify (+ 0) into 0 17.350 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.350 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.351 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.351 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.352 * [backup-simplify]: Simplify (+ 0 0) into 0 17.352 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.353 * [backup-simplify]: Simplify (+ 0) into 0 17.353 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.353 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.355 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.355 * [backup-simplify]: Simplify (- 0) into 0 17.356 * [backup-simplify]: Simplify (+ 0 0) into 0 17.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.357 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.357 * [backup-simplify]: Simplify (- 0) into 0 17.358 * [backup-simplify]: Simplify (+ 0 0) into 0 17.361 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.364 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.368 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.369 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.369 * [taylor]: Taking taylor expansion of (+ (* 10 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))) in lambda2 17.369 * [taylor]: Taking taylor expansion of (* 10 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) in lambda2 17.369 * [taylor]: Taking taylor expansion of 10 in lambda2 17.369 * [backup-simplify]: Simplify 10 into 10 17.369 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) in lambda2 17.369 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) in lambda2 17.369 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) in lambda2 17.369 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2 17.369 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.369 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.369 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.369 * [backup-simplify]: Simplify 0.5 into 0.5 17.369 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.369 * [backup-simplify]: Simplify phi1 into phi1 17.370 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.370 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.370 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.370 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.370 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.370 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.370 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3))) in lambda2 17.370 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in lambda2 17.370 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.370 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.370 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.370 * [backup-simplify]: Simplify 0.5 into 0.5 17.370 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.370 * [backup-simplify]: Simplify phi1 into phi1 17.370 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.370 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.370 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.370 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.370 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.374 * [backup-simplify]: Simplify (- 0) into 0 17.374 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.374 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)) in lambda2 17.374 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2 17.374 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.374 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.374 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.374 * [backup-simplify]: Simplify 0.5 into 0.5 17.374 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.374 * [backup-simplify]: Simplify phi2 into phi2 17.374 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.374 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.374 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.374 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.374 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.374 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.374 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in lambda2 17.374 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.374 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.374 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.374 * [backup-simplify]: Simplify 0.5 into 0.5 17.374 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.374 * [backup-simplify]: Simplify phi2 into phi2 17.374 * [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 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.375 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.375 * [backup-simplify]: Simplify (- 0) into 0 17.375 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.375 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2 17.375 * [taylor]: Taking taylor expansion of R in lambda2 17.375 * [backup-simplify]: Simplify R into R 17.375 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 17.375 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.375 * [backup-simplify]: Simplify 0 into 0 17.375 * [backup-simplify]: Simplify 1 into 1 17.375 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.376 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3) 17.376 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.376 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3) 17.376 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.376 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3) 17.376 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.376 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3) 17.377 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)) into (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)) 17.377 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3))) into (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3))) 17.377 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) into (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) 17.378 * [backup-simplify]: Simplify (* 1 1) into 1 17.378 * [backup-simplify]: Simplify (* 1 1) into 1 17.378 * [backup-simplify]: Simplify (* R 1) into R 17.378 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) R) into (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) R) 17.378 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) in lambda2 17.378 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) in lambda2 17.378 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) in lambda2 17.379 * [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 17.379 * [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 17.379 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.379 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.379 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.379 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.379 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.379 * [backup-simplify]: Simplify 0.5 into 0.5 17.379 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.379 * [backup-simplify]: Simplify phi1 into phi1 17.379 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.379 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.379 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.379 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.379 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.379 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.379 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.379 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.379 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.379 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.379 * [backup-simplify]: Simplify 0.5 into 0.5 17.379 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.379 * [backup-simplify]: Simplify phi2 into phi2 17.379 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.379 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.379 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.379 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.379 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.380 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.380 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.380 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.380 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.380 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.380 * [backup-simplify]: Simplify 0.5 into 0.5 17.380 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.380 * [backup-simplify]: Simplify phi1 into phi1 17.380 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.380 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.380 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.380 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.380 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.380 * [backup-simplify]: Simplify (- 0) into 0 17.380 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.380 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.380 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.380 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.381 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.381 * [backup-simplify]: Simplify 0.5 into 0.5 17.381 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.381 * [backup-simplify]: Simplify phi2 into phi2 17.381 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.381 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.381 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.381 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.381 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.381 * [backup-simplify]: Simplify (- 0) into 0 17.381 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.381 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.381 * [taylor]: Taking taylor expansion of 2 in lambda2 17.381 * [backup-simplify]: Simplify 2 into 2 17.381 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.381 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.381 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.381 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.381 * [backup-simplify]: Simplify 0.5 into 0.5 17.381 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.381 * [backup-simplify]: Simplify phi1 into phi1 17.381 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.381 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.382 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.382 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.382 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.382 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.382 * [backup-simplify]: Simplify 0.5 into 0.5 17.382 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.382 * [backup-simplify]: Simplify phi1 into phi1 17.382 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.382 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.382 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.382 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.382 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.382 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.382 * [backup-simplify]: Simplify 0.5 into 0.5 17.382 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.382 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.382 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.382 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.382 * [backup-simplify]: Simplify 0.5 into 0.5 17.382 * [taylor]: Taking taylor expansion of phi2 in lambda2 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)) 17.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.383 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.383 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.383 * [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)) 17.383 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 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 (* (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)) 17.384 * [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))) 17.384 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.384 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.384 * [backup-simplify]: Simplify (- 0) into 0 17.384 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.385 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.385 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.385 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.385 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.385 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.385 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.385 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.385 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.385 * [backup-simplify]: Simplify (- 0) into 0 17.385 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.385 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.386 * [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)))) 17.386 * [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))))) 17.386 * [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)))))) 17.386 * [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))))))) 17.387 * [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))))))) 17.388 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.390 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4) 17.392 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) 17.393 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) 17.393 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) 17.394 * [backup-simplify]: Simplify (+ 0) into 0 17.394 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.394 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.395 * [backup-simplify]: Simplify (+ 0 0) into 0 17.396 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.396 * [backup-simplify]: Simplify (+ 0) into 0 17.396 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.397 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.398 * [backup-simplify]: Simplify (+ 0 0) into 0 17.398 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.399 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.399 * [backup-simplify]: Simplify (+ 0) into 0 17.400 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.400 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.401 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.402 * [backup-simplify]: Simplify (- 0) into 0 17.402 * [backup-simplify]: Simplify (+ 0 0) into 0 17.402 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.403 * [backup-simplify]: Simplify (+ 0) into 0 17.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.403 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.405 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.405 * [backup-simplify]: Simplify (- 0) into 0 17.405 * [backup-simplify]: Simplify (+ 0 0) into 0 17.405 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.406 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.406 * [backup-simplify]: Simplify (+ 0 0) into 0 17.407 * [backup-simplify]: Simplify (+ 0) into 0 17.407 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.408 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.409 * [backup-simplify]: Simplify (- 0) into 0 17.410 * [backup-simplify]: Simplify (+ 0 0) into 0 17.410 * [backup-simplify]: Simplify (+ 0) into 0 17.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.411 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.412 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.412 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.412 * [backup-simplify]: Simplify (+ 0 0) into 0 17.413 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.413 * [backup-simplify]: Simplify (+ 0) into 0 17.414 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.414 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.415 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.415 * [backup-simplify]: Simplify (+ 0 0) into 0 17.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.416 * [backup-simplify]: Simplify (+ 0) into 0 17.417 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.417 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.418 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.418 * [backup-simplify]: Simplify (- 0) into 0 17.419 * [backup-simplify]: Simplify (+ 0 0) into 0 17.419 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.420 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.420 * [backup-simplify]: Simplify (- 0) into 0 17.421 * [backup-simplify]: Simplify (+ 0 0) into 0 17.423 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.427 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.430 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4))) into 0 17.433 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 17.435 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 17.435 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) in lambda2 17.436 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 17.436 * [taylor]: Taking taylor expansion of 1/2 in lambda2 17.436 * [backup-simplify]: Simplify 1/2 into 1/2 17.436 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 17.436 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* lambda2 (pow phi1 2)))) in lambda2 17.436 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.436 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.436 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.436 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.436 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.436 * [backup-simplify]: Simplify 0.5 into 0.5 17.436 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.436 * [backup-simplify]: Simplify phi1 into phi1 17.436 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.436 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.436 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.436 * [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 (cos (/ 0.5 phi2)) 2) in lambda2 17.437 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.437 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.437 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.438 * [backup-simplify]: Simplify 0.5 into 0.5 17.438 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.438 * [backup-simplify]: Simplify phi2 into phi2 17.438 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.438 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.438 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.438 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.438 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.439 * [backup-simplify]: Simplify (- 0) into 0 17.439 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.439 * [taylor]: Taking taylor expansion of (* R (* lambda2 (pow phi1 2))) in lambda2 17.439 * [taylor]: Taking taylor expansion of R in lambda2 17.439 * [backup-simplify]: Simplify R into R 17.439 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 17.439 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.439 * [backup-simplify]: Simplify 0 into 0 17.439 * [backup-simplify]: Simplify 1 into 1 17.439 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 17.439 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.439 * [backup-simplify]: Simplify phi1 into phi1 17.439 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.439 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.440 * [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)) 17.440 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 17.440 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 17.440 * [backup-simplify]: Simplify (* R 0) into 0 17.440 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 17.441 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 17.441 * [backup-simplify]: Simplify (+ (* R (pow phi1 2)) (* 0 0)) into (* R (pow phi1 2)) 17.442 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) 17.442 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 17.442 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 17.442 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 17.442 * [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 17.442 * [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 17.442 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.443 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.443 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.443 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.443 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.443 * [backup-simplify]: Simplify 0.5 into 0.5 17.443 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.443 * [backup-simplify]: Simplify phi1 into phi1 17.443 * [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 (sin (/ 0.5 phi2)) 2) in lambda2 17.443 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.443 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.444 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.444 * [backup-simplify]: Simplify 0.5 into 0.5 17.444 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.444 * [backup-simplify]: Simplify phi2 into phi2 17.444 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.444 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.444 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.444 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.444 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.444 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.444 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.444 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.444 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.444 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.444 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.444 * [backup-simplify]: Simplify 0.5 into 0.5 17.445 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.445 * [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 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.446 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.446 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.446 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.446 * [backup-simplify]: Simplify 0.5 into 0.5 17.446 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.446 * [backup-simplify]: Simplify phi2 into phi2 17.446 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.446 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.446 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.446 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.446 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.447 * [backup-simplify]: Simplify (- 0) into 0 17.447 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.447 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.447 * [taylor]: Taking taylor expansion of 2 in lambda2 17.447 * [backup-simplify]: Simplify 2 into 2 17.447 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.447 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.447 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.447 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.447 * [backup-simplify]: Simplify 0.5 into 0.5 17.447 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.447 * [backup-simplify]: Simplify phi1 into phi1 17.447 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.448 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.448 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.448 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.448 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.448 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.448 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.448 * [backup-simplify]: Simplify 0.5 into 0.5 17.448 * [taylor]: Taking taylor expansion of phi1 in lambda2 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)) (cos (/ 0.5 phi2))) in lambda2 17.448 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.448 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.448 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.448 * [backup-simplify]: Simplify 0.5 into 0.5 17.448 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.448 * [backup-simplify]: Simplify phi2 into phi2 17.448 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.449 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.449 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.449 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.449 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.449 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.449 * [backup-simplify]: Simplify 0.5 into 0.5 17.449 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.449 * [backup-simplify]: Simplify phi2 into phi2 17.449 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.449 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.449 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.449 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.449 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.450 * [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)) 17.450 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.450 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.451 * [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)) 17.451 * [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))) 17.452 * [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 (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.452 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.453 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.453 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.453 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.453 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.453 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.453 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.453 * [backup-simplify]: Simplify (- 0) into 0 17.453 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.453 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.453 * [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)))) 17.454 * [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))))) 17.454 * [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)))))) 17.454 * [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))))))) 17.455 * [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))))))) 17.456 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.458 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 17.459 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 17.461 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 17.461 * [backup-simplify]: Simplify (+ 0) into 0 17.461 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.462 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.462 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.463 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.463 * [backup-simplify]: Simplify (+ 0 0) into 0 17.463 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.463 * [backup-simplify]: Simplify (+ 0) into 0 17.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.464 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.464 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.465 * [backup-simplify]: Simplify (+ 0 0) into 0 17.465 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.465 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.466 * [backup-simplify]: Simplify (+ 0) into 0 17.466 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.466 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.467 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.467 * [backup-simplify]: Simplify (- 0) into 0 17.468 * [backup-simplify]: Simplify (+ 0 0) into 0 17.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.468 * [backup-simplify]: Simplify (+ 0) into 0 17.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.469 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.469 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.469 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.470 * [backup-simplify]: Simplify (- 0) into 0 17.470 * [backup-simplify]: Simplify (+ 0 0) into 0 17.470 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.470 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.470 * [backup-simplify]: Simplify (+ 0 0) into 0 17.471 * [backup-simplify]: Simplify (+ 0) into 0 17.471 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.471 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.472 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.472 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.472 * [backup-simplify]: Simplify (- 0) into 0 17.473 * [backup-simplify]: Simplify (+ 0 0) into 0 17.473 * [backup-simplify]: Simplify (+ 0) into 0 17.473 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.473 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.474 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.474 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.474 * [backup-simplify]: Simplify (+ 0 0) into 0 17.474 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.475 * [backup-simplify]: Simplify (+ 0) into 0 17.475 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.475 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.476 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.476 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.476 * [backup-simplify]: Simplify (+ 0 0) into 0 17.476 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.477 * [backup-simplify]: Simplify (+ 0) into 0 17.477 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.477 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.478 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.478 * [backup-simplify]: Simplify (- 0) into 0 17.478 * [backup-simplify]: Simplify (+ 0 0) into 0 17.479 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.479 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.479 * [backup-simplify]: Simplify (- 0) into 0 17.480 * [backup-simplify]: Simplify (+ 0 0) into 0 17.481 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.483 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.485 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.486 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.486 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) in lambda2 17.486 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 17.486 * [taylor]: Taking taylor expansion of 1/2 in lambda2 17.486 * [backup-simplify]: Simplify 1/2 into 1/2 17.486 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 17.486 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) (* (pow lambda2 3) R)) in lambda2 17.486 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) in lambda2 17.486 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 4) in lambda2 17.486 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.486 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.486 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.486 * [backup-simplify]: Simplify 0.5 into 0.5 17.486 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.486 * [backup-simplify]: Simplify phi1 into phi1 17.486 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.486 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.486 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.486 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.487 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.487 * [backup-simplify]: Simplify (- 0) into 0 17.487 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.487 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 4) in lambda2 17.487 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.487 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.487 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.487 * [backup-simplify]: Simplify 0.5 into 0.5 17.487 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 lambda2 3) R) in lambda2 17.488 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 17.488 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.488 * [backup-simplify]: Simplify 0 into 0 17.488 * [backup-simplify]: Simplify 1 into 1 17.488 * [taylor]: Taking taylor expansion of R in lambda2 17.488 * [backup-simplify]: Simplify R into R 17.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.488 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4) 17.488 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.489 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4) 17.489 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) into (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) 17.489 * [backup-simplify]: Simplify (* 1 1) into 1 17.489 * [backup-simplify]: Simplify (* 1 1) into 1 17.489 * [backup-simplify]: Simplify (* 1 R) into R 17.489 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) into (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) 17.490 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 17.490 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 17.490 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 17.490 * [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 17.490 * [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 17.490 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.490 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.490 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.490 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.490 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.490 * [backup-simplify]: Simplify 0.5 into 0.5 17.490 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.490 * [backup-simplify]: Simplify phi1 into phi1 17.490 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.490 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.490 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.490 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.490 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.490 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.490 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.490 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.490 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.490 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.490 * [backup-simplify]: Simplify 0.5 into 0.5 17.490 * [taylor]: Taking taylor expansion of phi2 in lambda2 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)) 17.490 * [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 (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.491 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.491 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.491 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.491 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.491 * [backup-simplify]: Simplify 0.5 into 0.5 17.491 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.491 * [backup-simplify]: Simplify phi1 into phi1 17.491 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.491 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.491 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.491 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.491 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.491 * [backup-simplify]: Simplify (- 0) into 0 17.491 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.491 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.491 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.491 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.491 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.491 * [backup-simplify]: Simplify 0.5 into 0.5 17.491 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.492 * [backup-simplify]: Simplify phi2 into phi2 17.492 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.492 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.492 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.492 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.492 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.492 * [backup-simplify]: Simplify (- 0) into 0 17.492 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.492 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.492 * [taylor]: Taking taylor expansion of 2 in lambda2 17.492 * [backup-simplify]: Simplify 2 into 2 17.492 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.492 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.492 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.492 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.492 * [backup-simplify]: Simplify 0.5 into 0.5 17.492 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.492 * [backup-simplify]: Simplify phi1 into phi1 17.492 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.492 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.492 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.492 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.492 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.493 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.493 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.493 * [backup-simplify]: Simplify 0.5 into 0.5 17.493 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.493 * [backup-simplify]: Simplify phi1 into phi1 17.493 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.493 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.493 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.493 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.493 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.493 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.493 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.493 * [backup-simplify]: Simplify 0.5 into 0.5 17.493 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.493 * [backup-simplify]: Simplify phi2 into phi2 17.493 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.493 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.493 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.493 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.493 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.493 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.493 * [backup-simplify]: Simplify 0.5 into 0.5 17.493 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.493 * [backup-simplify]: Simplify phi2 into phi2 17.493 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.493 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.493 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.493 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.493 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.494 * [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)) 17.494 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.494 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.494 * [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)) 17.494 * [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))) 17.495 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.495 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.495 * [backup-simplify]: Simplify (- 0) into 0 17.495 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.495 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.495 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.495 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.495 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.495 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.495 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.495 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.496 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.496 * [backup-simplify]: Simplify (- 0) into 0 17.496 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.496 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.496 * [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)))) 17.496 * [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))))) 17.496 * [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)))))) 17.497 * [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))))))) 17.497 * [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))))))) 17.499 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.501 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 17.501 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 17.502 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 17.503 * [backup-simplify]: Simplify (+ 0) into 0 17.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.503 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.504 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.507 * [backup-simplify]: Simplify (+ 0 0) into 0 17.508 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.508 * [backup-simplify]: Simplify (+ 0) into 0 17.509 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.509 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.510 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.510 * [backup-simplify]: Simplify (+ 0 0) into 0 17.510 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.510 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.511 * [backup-simplify]: Simplify (+ 0) into 0 17.511 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.511 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.512 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.512 * [backup-simplify]: Simplify (- 0) into 0 17.512 * [backup-simplify]: Simplify (+ 0 0) into 0 17.512 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.513 * [backup-simplify]: Simplify (+ 0) into 0 17.513 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.513 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.514 * [backup-simplify]: Simplify (- 0) into 0 17.514 * [backup-simplify]: Simplify (+ 0 0) into 0 17.515 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.515 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.515 * [backup-simplify]: Simplify (+ 0 0) into 0 17.515 * [backup-simplify]: Simplify (+ 0) into 0 17.516 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.516 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.517 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.517 * [backup-simplify]: Simplify (- 0) into 0 17.517 * [backup-simplify]: Simplify (+ 0 0) into 0 17.517 * [backup-simplify]: Simplify (+ 0) into 0 17.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.518 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.519 * [backup-simplify]: Simplify (+ 0 0) into 0 17.519 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.520 * [backup-simplify]: Simplify (+ 0) into 0 17.520 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.520 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.521 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.522 * [backup-simplify]: Simplify (+ 0 0) into 0 17.522 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.523 * [backup-simplify]: Simplify (+ 0) into 0 17.523 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.523 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.525 * [backup-simplify]: Simplify (- 0) into 0 17.525 * [backup-simplify]: Simplify (+ 0 0) into 0 17.526 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.527 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.527 * [backup-simplify]: Simplify (- 0) into 0 17.527 * [backup-simplify]: Simplify (+ 0 0) into 0 17.531 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.534 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.538 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.540 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.540 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) in lambda2 17.540 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 17.540 * [taylor]: Taking taylor expansion of 1/2 in lambda2 17.540 * [backup-simplify]: Simplify 1/2 into 1/2 17.540 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 17.540 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* lambda2 (* R (pow phi2 2)))) in lambda2 17.540 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.540 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.540 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.540 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.540 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.541 * [backup-simplify]: Simplify 0.5 into 0.5 17.541 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.541 * [backup-simplify]: Simplify phi1 into phi1 17.541 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.541 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.541 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.541 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.541 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.542 * [backup-simplify]: Simplify (- 0) into 0 17.542 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.542 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.542 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.542 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.542 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.542 * [backup-simplify]: Simplify 0.5 into 0.5 17.542 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.542 * [backup-simplify]: Simplify phi2 into phi2 17.542 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.542 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.542 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.542 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.543 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.543 * [backup-simplify]: Simplify (- 0) into 0 17.543 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.543 * [taylor]: Taking taylor expansion of (* lambda2 (* R (pow phi2 2))) in lambda2 17.543 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.543 * [backup-simplify]: Simplify 0 into 0 17.543 * [backup-simplify]: Simplify 1 into 1 17.543 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in lambda2 17.543 * [taylor]: Taking taylor expansion of R in lambda2 17.543 * [backup-simplify]: Simplify R into R 17.543 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 17.543 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.543 * [backup-simplify]: Simplify phi2 into phi2 17.544 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.544 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.544 * [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)) 17.544 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 17.545 * [backup-simplify]: Simplify (* R (pow phi2 2)) into (* (pow phi2 2) R) 17.545 * [backup-simplify]: Simplify (* 0 (* (pow phi2 2) R)) into 0 17.545 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 17.545 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (pow phi2 2))) into 0 17.546 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow phi2 2) R))) into (* (pow phi2 2) R) 17.546 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) 17.546 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 17.546 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 17.546 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 17.546 * [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 17.546 * [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 17.547 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.547 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.547 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.547 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.547 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.547 * [backup-simplify]: Simplify 0.5 into 0.5 17.547 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.547 * [backup-simplify]: Simplify phi1 into phi1 17.547 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.547 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.547 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.547 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.547 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.547 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.547 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.547 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.547 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.548 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.548 * [backup-simplify]: Simplify 0.5 into 0.5 17.548 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.548 * [backup-simplify]: Simplify phi2 into phi2 17.548 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.548 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.548 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.548 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.548 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.548 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.548 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.548 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.548 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.548 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.548 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.548 * [backup-simplify]: Simplify 0.5 into 0.5 17.548 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.549 * [backup-simplify]: Simplify phi1 into phi1 17.549 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.549 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.549 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.549 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.549 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.550 * [backup-simplify]: Simplify (- 0) into 0 17.550 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.550 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.550 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.550 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.550 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.550 * [backup-simplify]: Simplify 0.5 into 0.5 17.550 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.550 * [backup-simplify]: Simplify phi2 into phi2 17.550 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.550 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.550 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.550 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.550 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.551 * [backup-simplify]: Simplify (- 0) into 0 17.551 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.551 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.551 * [taylor]: Taking taylor expansion of 2 in lambda2 17.551 * [backup-simplify]: Simplify 2 into 2 17.551 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.551 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.551 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.551 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.551 * [backup-simplify]: Simplify 0.5 into 0.5 17.551 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.551 * [backup-simplify]: Simplify phi1 into phi1 17.551 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 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)) into (sin (/ 0.5 phi1)) 17.552 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.552 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.552 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.552 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.552 * [backup-simplify]: Simplify 0.5 into 0.5 17.552 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.552 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.552 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.552 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.552 * [backup-simplify]: Simplify 0.5 into 0.5 17.552 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.552 * [backup-simplify]: Simplify phi2 into phi2 17.552 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.553 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.553 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.553 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.553 * [backup-simplify]: Simplify 0.5 into 0.5 17.553 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.553 * [backup-simplify]: Simplify phi2 into phi2 17.553 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.553 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.553 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 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 (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.554 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 17.554 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.554 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.555 * [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)) 17.555 * [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))) 17.556 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.556 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.556 * [backup-simplify]: Simplify (- 0) into 0 17.556 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.557 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.557 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.557 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.557 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.557 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.557 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.557 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.557 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.558 * [backup-simplify]: Simplify (- 0) into 0 17.558 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.558 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.558 * [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)))) 17.559 * [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))))) 17.559 * [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)))))) 17.560 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 17.561 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 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))))))) 17.564 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.567 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 17.569 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 17.571 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 17.572 * [backup-simplify]: Simplify (+ 0) into 0 17.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.573 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.574 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.574 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.575 * [backup-simplify]: Simplify (+ 0 0) into 0 17.575 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.575 * [backup-simplify]: Simplify (+ 0) into 0 17.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.576 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.578 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.578 * [backup-simplify]: Simplify (+ 0 0) into 0 17.578 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.579 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.579 * [backup-simplify]: Simplify (+ 0) into 0 17.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.580 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.581 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.582 * [backup-simplify]: Simplify (- 0) into 0 17.582 * [backup-simplify]: Simplify (+ 0 0) into 0 17.582 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.583 * [backup-simplify]: Simplify (+ 0) into 0 17.583 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.585 * [backup-simplify]: Simplify (- 0) into 0 17.586 * [backup-simplify]: Simplify (+ 0 0) into 0 17.586 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.586 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.587 * [backup-simplify]: Simplify (+ 0 0) into 0 17.587 * [backup-simplify]: Simplify (+ 0) into 0 17.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.590 * [backup-simplify]: Simplify (- 0) into 0 17.590 * [backup-simplify]: Simplify (+ 0 0) into 0 17.590 * [backup-simplify]: Simplify (+ 0) into 0 17.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.591 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.593 * [backup-simplify]: Simplify (+ 0 0) into 0 17.593 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.594 * [backup-simplify]: Simplify (+ 0) into 0 17.594 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.594 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.596 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.596 * [backup-simplify]: Simplify (+ 0 0) into 0 17.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.597 * [backup-simplify]: Simplify (+ 0) into 0 17.597 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.598 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.599 * [backup-simplify]: Simplify (- 0) into 0 17.600 * [backup-simplify]: Simplify (+ 0 0) into 0 17.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.601 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.601 * [backup-simplify]: Simplify (- 0) into 0 17.602 * [backup-simplify]: Simplify (+ 0 0) into 0 17.605 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.608 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.612 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.614 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.614 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 17.614 * [taylor]: Taking taylor expansion of 3 in lambda2 17.614 * [backup-simplify]: Simplify 3 into 3 17.614 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 17.614 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) in lambda2 17.614 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) in lambda2 17.614 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.614 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.614 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.614 * [backup-simplify]: Simplify 0.5 into 0.5 17.614 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.615 * [backup-simplify]: Simplify phi1 into phi1 17.615 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.615 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.615 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.615 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.615 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.615 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.615 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda2 17.615 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.615 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.615 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.615 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.615 * [backup-simplify]: Simplify 0.5 into 0.5 17.615 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.615 * [backup-simplify]: Simplify phi1 into phi1 17.616 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.616 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.616 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.616 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.617 * [backup-simplify]: Simplify (- 0) into 0 17.617 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.617 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.617 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.617 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.617 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.617 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.617 * [backup-simplify]: Simplify 0.5 into 0.5 17.617 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.617 * [backup-simplify]: Simplify phi2 into phi2 17.617 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.617 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.617 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.617 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.618 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.618 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.618 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.618 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.618 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.618 * [backup-simplify]: Simplify 0.5 into 0.5 17.618 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.618 * [backup-simplify]: Simplify phi2 into phi2 17.618 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.618 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.618 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.619 * [backup-simplify]: Simplify (- 0) into 0 17.620 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.620 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2 17.620 * [taylor]: Taking taylor expansion of R in lambda2 17.620 * [backup-simplify]: Simplify R into R 17.620 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 17.620 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.620 * [backup-simplify]: Simplify 0 into 0 17.620 * [backup-simplify]: Simplify 1 into 1 17.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.621 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.621 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) 17.622 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2))) 17.622 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) 17.623 * [backup-simplify]: Simplify (* 1 1) into 1 17.623 * [backup-simplify]: Simplify (* 1 1) into 1 17.624 * [backup-simplify]: Simplify (* R 1) into R 17.624 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) 17.624 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 17.624 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 17.624 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 17.624 * [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 17.624 * [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 17.624 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.624 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.624 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.624 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.624 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.624 * [backup-simplify]: Simplify 0.5 into 0.5 17.625 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.625 * [backup-simplify]: Simplify phi1 into phi1 17.625 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.625 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.625 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.625 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.625 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.625 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.625 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.625 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.625 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.625 * [backup-simplify]: Simplify 0.5 into 0.5 17.625 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.625 * [backup-simplify]: Simplify phi2 into phi2 17.625 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.625 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.625 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.625 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.625 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.625 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.625 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.625 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.625 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.625 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.625 * [backup-simplify]: Simplify 0.5 into 0.5 17.625 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.626 * [backup-simplify]: Simplify phi1 into phi1 17.626 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.626 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.626 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.626 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.626 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.626 * [backup-simplify]: Simplify (- 0) into 0 17.626 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.626 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.626 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.626 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.626 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.626 * [backup-simplify]: Simplify 0.5 into 0.5 17.626 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.626 * [backup-simplify]: Simplify phi2 into phi2 17.626 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.626 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.627 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.627 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.627 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.627 * [backup-simplify]: Simplify (- 0) into 0 17.627 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.627 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.627 * [taylor]: Taking taylor expansion of 2 in lambda2 17.627 * [backup-simplify]: Simplify 2 into 2 17.627 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.627 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.627 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.627 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.627 * [backup-simplify]: Simplify 0.5 into 0.5 17.627 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.627 * [backup-simplify]: Simplify phi1 into phi1 17.627 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.627 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.627 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.627 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.627 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.627 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.627 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.627 * [backup-simplify]: Simplify 0.5 into 0.5 17.627 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.627 * [backup-simplify]: Simplify phi1 into phi1 17.627 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.628 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.628 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.628 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.628 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.628 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.628 * [backup-simplify]: Simplify 0.5 into 0.5 17.628 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.628 * [backup-simplify]: Simplify phi2 into phi2 17.628 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.628 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.628 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.628 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.628 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.628 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.628 * [backup-simplify]: Simplify 0.5 into 0.5 17.628 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.628 * [backup-simplify]: Simplify phi2 into phi2 17.628 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.628 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.628 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.628 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.628 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.629 * [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)) 17.629 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.629 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.629 * [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)) 17.629 * [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))) 17.629 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.630 * [backup-simplify]: Simplify (- 0) into 0 17.630 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.630 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.630 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.630 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.630 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.630 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.630 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.631 * [backup-simplify]: Simplify (- 0) into 0 17.631 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.631 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.631 * [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)))) 17.631 * [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))))) 17.631 * [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)))))) 17.632 * [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))))))) 17.632 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 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))))))) 17.634 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.636 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 17.637 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 17.637 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 17.638 * [backup-simplify]: Simplify (+ 0) into 0 17.638 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.638 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.639 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.639 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.640 * [backup-simplify]: Simplify (+ 0 0) into 0 17.640 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.640 * [backup-simplify]: Simplify (+ 0) into 0 17.640 * [backup-simplify]: Simplify (+ (* (sin (/ 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 17.641 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.641 * [backup-simplify]: Simplify (+ 0 0) into 0 17.642 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.642 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.642 * [backup-simplify]: Simplify (+ 0) into 0 17.642 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.642 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.643 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.643 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.644 * [backup-simplify]: Simplify (- 0) into 0 17.644 * [backup-simplify]: Simplify (+ 0 0) into 0 17.644 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.644 * [backup-simplify]: Simplify (+ 0) into 0 17.645 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.645 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.645 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.646 * [backup-simplify]: Simplify (- 0) into 0 17.646 * [backup-simplify]: Simplify (+ 0 0) into 0 17.646 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.646 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.647 * [backup-simplify]: Simplify (+ 0 0) into 0 17.647 * [backup-simplify]: Simplify (+ 0) into 0 17.647 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.647 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.648 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.648 * [backup-simplify]: Simplify (- 0) into 0 17.649 * [backup-simplify]: Simplify (+ 0 0) 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 17.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.650 * [backup-simplify]: Simplify (+ 0 0) into 0 17.651 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.651 * [backup-simplify]: Simplify (+ 0) into 0 17.651 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.651 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.652 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.652 * [backup-simplify]: Simplify (+ 0 0) into 0 17.652 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.653 * [backup-simplify]: Simplify (+ 0) into 0 17.653 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.653 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.654 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.654 * [backup-simplify]: Simplify (- 0) into 0 17.655 * [backup-simplify]: Simplify (+ 0 0) into 0 17.655 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.655 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.655 * [backup-simplify]: Simplify (- 0) into 0 17.656 * [backup-simplify]: Simplify (+ 0 0) into 0 17.659 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.662 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.666 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.668 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.668 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) (* R lambda2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi2 (* phi1 (* lambda2 R)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))))))))))) in lambda2 17.673 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) in lambda2 17.673 * [taylor]: Taking taylor expansion of 1/2 in lambda2 17.673 * [backup-simplify]: Simplify 1/2 into 1/2 17.673 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) in lambda2 17.673 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) in lambda2 17.673 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) in lambda2 17.673 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 6) in lambda2 17.673 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.674 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.674 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.674 * [backup-simplify]: Simplify 0.5 into 0.5 17.674 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.674 * [backup-simplify]: Simplify phi1 into phi1 17.674 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.674 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.674 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.674 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.674 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.674 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.674 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 6) in lambda2 17.674 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.675 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.675 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.675 * [backup-simplify]: Simplify 0.5 into 0.5 17.675 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.675 * [backup-simplify]: Simplify phi2 into phi2 17.675 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.675 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.675 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.675 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.675 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.675 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.675 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) R) in lambda2 17.675 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 17.675 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.675 * [backup-simplify]: Simplify 0 into 0 17.675 * [backup-simplify]: Simplify 1 into 1 17.675 * [taylor]: Taking taylor expansion of R in lambda2 17.675 * [backup-simplify]: Simplify R into R 17.676 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.676 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3) 17.676 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 3) (pow (sin (/ 0.5 phi1)) 3)) into (pow (sin (/ 0.5 phi1)) 6) 17.677 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.677 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3) 17.677 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (pow (sin (/ 0.5 phi2)) 3)) into (pow (sin (/ 0.5 phi2)) 6) 17.678 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) into (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) 17.679 * [backup-simplify]: Simplify (* 1 1) into 1 17.679 * [backup-simplify]: Simplify (* 1 1) into 1 17.679 * [backup-simplify]: Simplify (* 1 R) into R 17.679 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) R) into (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) R) 17.680 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) in lambda2 17.680 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) in lambda2 17.680 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) in lambda2 17.680 * [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 17.680 * [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 17.680 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.680 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.680 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.680 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.680 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.680 * [backup-simplify]: Simplify 0.5 into 0.5 17.680 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.680 * [backup-simplify]: Simplify phi1 into phi1 17.680 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.680 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.680 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.680 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.681 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.681 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.681 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.681 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.681 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.681 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.681 * [backup-simplify]: Simplify 0.5 into 0.5 17.681 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.681 * [backup-simplify]: Simplify phi2 into phi2 17.681 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.681 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.681 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.681 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.681 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.681 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.682 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.682 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.682 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.682 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.682 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.682 * [backup-simplify]: Simplify 0.5 into 0.5 17.682 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.682 * [backup-simplify]: Simplify phi1 into phi1 17.682 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.682 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.682 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.682 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.682 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.683 * [backup-simplify]: Simplify (- 0) into 0 17.683 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.683 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.683 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.683 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.683 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.683 * [backup-simplify]: Simplify 0.5 into 0.5 17.683 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.683 * [backup-simplify]: Simplify phi2 into phi2 17.683 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.683 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.684 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.684 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.684 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.684 * [backup-simplify]: Simplify (- 0) into 0 17.684 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.684 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.685 * [taylor]: Taking taylor expansion of 2 in lambda2 17.685 * [backup-simplify]: Simplify 2 into 2 17.685 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.685 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.685 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.685 * [backup-simplify]: Simplify 0.5 into 0.5 17.685 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.685 * [backup-simplify]: Simplify phi1 into phi1 17.685 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.685 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.685 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.685 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.685 * [backup-simplify]: Simplify 0.5 into 0.5 17.685 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.685 * [backup-simplify]: Simplify phi1 into phi1 17.685 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.685 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.685 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.685 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.685 * [backup-simplify]: Simplify 0.5 into 0.5 17.686 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.686 * [backup-simplify]: Simplify phi2 into phi2 17.686 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.686 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.686 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.686 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.686 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.686 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.686 * [backup-simplify]: Simplify 0.5 into 0.5 17.686 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.686 * [backup-simplify]: Simplify phi2 into phi2 17.686 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.686 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.686 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.687 * [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)) 17.687 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.687 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.687 * [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)) 17.688 * [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))) 17.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.688 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.689 * [backup-simplify]: Simplify (- 0) into 0 17.689 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.689 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.689 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.689 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.689 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.690 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.690 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.690 * [backup-simplify]: Simplify (- 0) into 0 17.690 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.691 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 17.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 17.691 * [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)))))) 17.692 * [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))))))) 17.693 * [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))))))) 17.695 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.699 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4) 17.702 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) 17.704 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) 17.706 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) 17.706 * [backup-simplify]: Simplify (+ 0) into 0 17.707 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.707 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.709 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.709 * [backup-simplify]: Simplify (+ 0 0) into 0 17.709 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.710 * [backup-simplify]: Simplify (+ 0) into 0 17.710 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.710 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.712 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.712 * [backup-simplify]: Simplify (+ 0 0) into 0 17.712 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.713 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.713 * [backup-simplify]: Simplify (+ 0) into 0 17.714 * [backup-simplify]: Simplify (+ (* (cos (/ 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 (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.716 * [backup-simplify]: Simplify (- 0) into 0 17.716 * [backup-simplify]: Simplify (+ 0 0) into 0 17.716 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.717 * [backup-simplify]: Simplify (+ 0) into 0 17.717 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.717 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.719 * [backup-simplify]: Simplify (- 0) into 0 17.720 * [backup-simplify]: Simplify (+ 0 0) into 0 17.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.720 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.721 * [backup-simplify]: Simplify (+ 0 0) into 0 17.721 * [backup-simplify]: Simplify (+ 0) into 0 17.722 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.722 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.723 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.723 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.724 * [backup-simplify]: Simplify (- 0) into 0 17.724 * [backup-simplify]: Simplify (+ 0 0) into 0 17.725 * [backup-simplify]: Simplify (+ 0) into 0 17.725 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.725 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.727 * [backup-simplify]: Simplify (+ 0 0) into 0 17.727 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.728 * [backup-simplify]: Simplify (+ 0) into 0 17.728 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.728 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.730 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.730 * [backup-simplify]: Simplify (+ 0 0) into 0 17.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.731 * [backup-simplify]: Simplify (+ 0) into 0 17.731 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.732 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.733 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.733 * [backup-simplify]: Simplify (- 0) into 0 17.734 * [backup-simplify]: Simplify (+ 0 0) into 0 17.734 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.735 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.735 * [backup-simplify]: Simplify (- 0) into 0 17.736 * [backup-simplify]: Simplify (+ 0 0) into 0 17.738 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.742 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.745 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4))) into 0 17.748 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 17.750 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 17.751 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) (* R lambda2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi2 (* phi1 (* lambda2 R)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))))))))) in lambda2 17.751 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) (* R lambda2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 17.751 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) (* R lambda2))) in lambda2 17.751 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.751 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.751 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.751 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.751 * [backup-simplify]: Simplify 0.5 into 0.5 17.751 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.751 * [backup-simplify]: Simplify phi1 into phi1 17.751 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.751 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.752 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.752 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.752 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.752 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.752 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.752 * [backup-simplify]: Simplify 0.5 into 0.5 17.752 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.752 * [backup-simplify]: Simplify phi1 into phi1 17.752 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.752 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.752 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.752 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.752 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.752 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.752 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.752 * [backup-simplify]: Simplify 0.5 into 0.5 17.752 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.752 * [backup-simplify]: Simplify phi2 into phi2 17.752 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.752 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.753 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.753 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.753 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.753 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.753 * [backup-simplify]: Simplify 0.5 into 0.5 17.753 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.753 * [backup-simplify]: Simplify phi2 into phi2 17.753 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.753 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.753 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.753 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R lambda2)) in lambda2 17.753 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 17.753 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.753 * [backup-simplify]: Simplify phi2 into phi2 17.753 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2 17.753 * [taylor]: Taking taylor expansion of R in lambda2 17.753 * [backup-simplify]: Simplify R into R 17.753 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.753 * [backup-simplify]: Simplify 0 into 0 17.753 * [backup-simplify]: Simplify 1 into 1 17.753 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.754 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.754 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.754 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.754 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.755 * [backup-simplify]: Simplify (- 0) into 0 17.755 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.755 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.755 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.755 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.755 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.755 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.756 * [backup-simplify]: Simplify (- 0) into 0 17.756 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.756 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.756 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 17.757 * [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))))) 17.757 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 17.757 * [backup-simplify]: Simplify (* R 0) into 0 17.757 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 17.757 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 17.758 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 17.758 * [backup-simplify]: Simplify (+ (* (pow phi2 2) R) (* 0 0)) into (* (pow phi2 2) R) 17.759 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi2 2))) 17.759 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 17.759 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 17.759 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 17.759 * [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 17.759 * [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 17.759 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.759 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.759 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.759 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.759 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.759 * [backup-simplify]: Simplify 0.5 into 0.5 17.759 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.759 * [backup-simplify]: Simplify phi1 into phi1 17.759 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.759 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.760 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.760 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.760 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.760 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.760 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.760 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.760 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.760 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.760 * [backup-simplify]: Simplify 0.5 into 0.5 17.760 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.760 * [backup-simplify]: Simplify phi2 into phi2 17.760 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.760 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.760 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.761 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.761 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.761 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.761 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.761 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.761 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.761 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.761 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.761 * [backup-simplify]: Simplify 0.5 into 0.5 17.761 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.761 * [backup-simplify]: Simplify phi1 into phi1 17.761 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.761 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.761 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.761 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.762 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.762 * [backup-simplify]: Simplify (- 0) into 0 17.762 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.762 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.762 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.762 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.762 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.762 * [backup-simplify]: Simplify 0.5 into 0.5 17.762 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.762 * [backup-simplify]: Simplify phi2 into phi2 17.763 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.763 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.763 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.763 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.763 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.763 * [backup-simplify]: Simplify (- 0) into 0 17.764 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.764 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.764 * [taylor]: Taking taylor expansion of 2 in lambda2 17.764 * [backup-simplify]: Simplify 2 into 2 17.764 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.764 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.764 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.764 * [backup-simplify]: Simplify 0.5 into 0.5 17.764 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.764 * [backup-simplify]: Simplify phi1 into phi1 17.764 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.764 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.764 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.764 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.764 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.764 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.764 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.764 * [backup-simplify]: Simplify 0.5 into 0.5 17.764 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.764 * [backup-simplify]: Simplify phi1 into phi1 17.765 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.765 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.765 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.765 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.765 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.765 * [backup-simplify]: Simplify 0.5 into 0.5 17.765 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.765 * [backup-simplify]: Simplify phi2 into phi2 17.765 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.765 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.765 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.765 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.765 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.765 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.765 * [backup-simplify]: Simplify 0.5 into 0.5 17.765 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.765 * [backup-simplify]: Simplify phi2 into phi2 17.766 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.766 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.766 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.766 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.766 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.767 * [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)) 17.767 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.767 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.767 * [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)) 17.768 * [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))) 17.768 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.768 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.769 * [backup-simplify]: Simplify (- 0) into 0 17.769 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.769 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.769 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.769 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.770 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.770 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.770 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.771 * [backup-simplify]: Simplify (- 0) into 0 17.771 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.771 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.771 * [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)))) 17.771 * [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))))) 17.772 * [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)))))) 17.772 * [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))))))) 17.774 * [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))))))) 17.776 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.778 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 17.779 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 17.780 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 17.780 * [backup-simplify]: Simplify (+ 0) into 0 17.781 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.781 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.782 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.782 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.782 * [backup-simplify]: Simplify (+ 0 0) into 0 17.782 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.783 * [backup-simplify]: Simplify (+ 0) into 0 17.783 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.783 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.784 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 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 (sin (/ 0.5 phi1)))) into 0 17.784 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.785 * [backup-simplify]: Simplify (+ 0) into 0 17.785 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.785 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.786 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.786 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.786 * [backup-simplify]: Simplify (- 0) into 0 17.786 * [backup-simplify]: Simplify (+ 0 0) into 0 17.787 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.787 * [backup-simplify]: Simplify (+ 0) into 0 17.787 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.787 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.788 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.788 * [backup-simplify]: Simplify (- 0) into 0 17.789 * [backup-simplify]: Simplify (+ 0 0) into 0 17.789 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.789 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.789 * [backup-simplify]: Simplify (+ 0 0) into 0 17.789 * [backup-simplify]: Simplify (+ 0) into 0 17.790 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.790 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.791 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.791 * [backup-simplify]: Simplify (- 0) into 0 17.791 * [backup-simplify]: Simplify (+ 0 0) into 0 17.791 * [backup-simplify]: Simplify (+ 0) into 0 17.792 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.792 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.792 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.793 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.793 * [backup-simplify]: Simplify (+ 0 0) into 0 17.793 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.793 * [backup-simplify]: Simplify (+ 0) into 0 17.794 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.794 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.794 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.795 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.795 * [backup-simplify]: Simplify (+ 0 0) into 0 17.795 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.795 * [backup-simplify]: Simplify (+ 0) into 0 17.796 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.796 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.796 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.797 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.797 * [backup-simplify]: Simplify (- 0) into 0 17.797 * [backup-simplify]: Simplify (+ 0 0) into 0 17.797 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.798 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.798 * [backup-simplify]: Simplify (- 0) into 0 17.798 * [backup-simplify]: Simplify (+ 0 0) into 0 17.800 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.801 * [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))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.803 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.804 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.804 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi2 (* phi1 (* lambda2 R)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))))))))) in lambda2 17.804 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi2 (* phi1 (* lambda2 R)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 17.804 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi2 (* phi1 (* lambda2 R)))) in lambda2 17.804 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.804 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.804 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.804 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.804 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.804 * [backup-simplify]: Simplify 0.5 into 0.5 17.805 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.805 * [backup-simplify]: Simplify phi1 into phi1 17.805 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.805 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.805 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.805 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.805 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.805 * [backup-simplify]: Simplify (- 0) into 0 17.805 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.805 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.805 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.805 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.805 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.805 * [backup-simplify]: Simplify 0.5 into 0.5 17.805 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.805 * [backup-simplify]: Simplify phi2 into phi2 17.805 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.806 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.806 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.806 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.806 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.806 * [backup-simplify]: Simplify (- 0) into 0 17.806 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.806 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* lambda2 R))) in lambda2 17.806 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.806 * [backup-simplify]: Simplify phi2 into phi2 17.806 * [taylor]: Taking taylor expansion of (* phi1 (* lambda2 R)) in lambda2 17.806 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.806 * [backup-simplify]: Simplify phi1 into phi1 17.806 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2 17.806 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.806 * [backup-simplify]: Simplify 0 into 0 17.806 * [backup-simplify]: Simplify 1 into 1 17.806 * [taylor]: Taking taylor expansion of R in lambda2 17.806 * [backup-simplify]: Simplify R into R 17.806 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.806 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.807 * [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)) 17.807 * [backup-simplify]: Simplify (* 0 R) into 0 17.807 * [backup-simplify]: Simplify (* phi1 0) into 0 17.807 * [backup-simplify]: Simplify (* phi2 0) into 0 17.807 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 17.807 * [backup-simplify]: Simplify (+ (* phi1 R) (* 0 0)) into (* phi1 R) 17.808 * [backup-simplify]: Simplify (+ (* phi2 (* phi1 R)) (* 0 0)) into (* phi2 (* phi1 R)) 17.808 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) 17.808 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 17.808 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 17.808 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 17.808 * [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 17.808 * [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 17.808 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.808 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.808 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.808 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.808 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.808 * [backup-simplify]: Simplify 0.5 into 0.5 17.808 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.808 * [backup-simplify]: Simplify phi1 into phi1 17.808 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.808 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.808 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.808 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.808 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.809 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.809 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.809 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.809 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.809 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.809 * [backup-simplify]: Simplify 0.5 into 0.5 17.809 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.809 * [backup-simplify]: Simplify phi2 into phi2 17.809 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.809 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.809 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.809 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.809 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.809 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.809 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.809 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.809 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.809 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.809 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.809 * [backup-simplify]: Simplify 0.5 into 0.5 17.809 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.809 * [backup-simplify]: Simplify phi1 into phi1 17.809 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.809 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.809 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.809 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.809 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.810 * [backup-simplify]: Simplify (- 0) into 0 17.810 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.810 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.810 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.810 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.810 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.810 * [backup-simplify]: Simplify 0.5 into 0.5 17.810 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.810 * [backup-simplify]: Simplify phi2 into phi2 17.810 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.810 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.810 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.810 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.810 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.810 * [backup-simplify]: Simplify (- 0) into 0 17.811 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.811 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.811 * [taylor]: Taking taylor expansion of 2 in lambda2 17.811 * [backup-simplify]: Simplify 2 into 2 17.811 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.811 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.811 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.811 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.811 * [backup-simplify]: Simplify 0.5 into 0.5 17.811 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.811 * [backup-simplify]: Simplify phi1 into phi1 17.811 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.811 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.811 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.811 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.811 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.811 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.811 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.811 * [backup-simplify]: Simplify 0.5 into 0.5 17.811 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.811 * [backup-simplify]: Simplify phi1 into phi1 17.811 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.811 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.811 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.811 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.811 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.811 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.811 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.811 * [backup-simplify]: Simplify 0.5 into 0.5 17.811 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.811 * [backup-simplify]: Simplify phi2 into phi2 17.811 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.811 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.811 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.811 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.811 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.811 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.811 * [backup-simplify]: Simplify 0.5 into 0.5 17.811 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.811 * [backup-simplify]: Simplify phi2 into phi2 17.812 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.812 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.812 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.812 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.812 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.812 * [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)) 17.812 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.812 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.813 * [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)) 17.813 * [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))) 17.813 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.813 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.813 * [backup-simplify]: Simplify (- 0) into 0 17.813 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.814 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.814 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.814 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.814 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.814 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.814 * [backup-simplify]: Simplify (- 0) into 0 17.814 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.814 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.815 * [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)))) 17.815 * [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))))) 17.815 * [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)))))) 17.815 * [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))))))) 17.816 * [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))))))) 17.818 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.820 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 17.821 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 17.823 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 17.824 * [backup-simplify]: Simplify (+ 0) into 0 17.824 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.824 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.826 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.826 * [backup-simplify]: Simplify (+ 0 0) into 0 17.826 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.827 * [backup-simplify]: Simplify (+ 0) into 0 17.832 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.832 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.834 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.834 * [backup-simplify]: Simplify (+ 0 0) into 0 17.834 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.835 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.835 * [backup-simplify]: Simplify (+ 0) into 0 17.836 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.836 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.837 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.837 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.838 * [backup-simplify]: Simplify (- 0) into 0 17.838 * [backup-simplify]: Simplify (+ 0 0) into 0 17.838 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.839 * [backup-simplify]: Simplify (+ 0) into 0 17.839 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.840 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.841 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.841 * [backup-simplify]: Simplify (- 0) into 0 17.842 * [backup-simplify]: Simplify (+ 0 0) into 0 17.842 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.842 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.843 * [backup-simplify]: Simplify (+ 0 0) into 0 17.843 * [backup-simplify]: Simplify (+ 0) into 0 17.844 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.844 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.845 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.845 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.846 * [backup-simplify]: Simplify (- 0) into 0 17.846 * [backup-simplify]: Simplify (+ 0 0) into 0 17.846 * [backup-simplify]: Simplify (+ 0) into 0 17.847 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.847 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.848 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.849 * [backup-simplify]: Simplify (+ 0 0) into 0 17.849 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.849 * [backup-simplify]: Simplify (+ 0) into 0 17.850 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.850 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.852 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.852 * [backup-simplify]: Simplify (+ 0 0) into 0 17.852 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.853 * [backup-simplify]: Simplify (+ 0) into 0 17.853 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.853 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.855 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.855 * [backup-simplify]: Simplify (- 0) into 0 17.856 * [backup-simplify]: Simplify (+ 0 0) into 0 17.856 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.857 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.857 * [backup-simplify]: Simplify (- 0) into 0 17.858 * [backup-simplify]: Simplify (+ 0 0) into 0 17.861 * [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))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.864 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.868 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.870 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.870 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))))))) in lambda2 17.870 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 17.870 * [taylor]: Taking taylor expansion of 2 in lambda2 17.870 * [backup-simplify]: Simplify 2 into 2 17.870 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 17.870 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) (* R (pow lambda2 3))) in lambda2 17.870 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) in lambda2 17.870 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.870 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.871 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.871 * [backup-simplify]: Simplify 0.5 into 0.5 17.871 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.871 * [backup-simplify]: Simplify phi1 into phi1 17.871 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.871 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.871 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.871 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3))) in lambda2 17.871 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in lambda2 17.871 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.871 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.871 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.871 * [backup-simplify]: Simplify 0.5 into 0.5 17.871 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.871 * [backup-simplify]: Simplify phi1 into phi1 17.871 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.871 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.871 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.872 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.872 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.872 * [backup-simplify]: Simplify (- 0) into 0 17.872 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.872 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)) in lambda2 17.872 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.873 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.873 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.873 * [backup-simplify]: Simplify 0.5 into 0.5 17.873 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.873 * [backup-simplify]: Simplify phi2 into phi2 17.873 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.873 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.873 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.873 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in lambda2 17.873 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.873 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.873 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.873 * [backup-simplify]: Simplify 0.5 into 0.5 17.873 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.873 * [backup-simplify]: Simplify phi2 into phi2 17.873 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.873 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.873 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.873 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.874 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.874 * [backup-simplify]: Simplify (- 0) into 0 17.874 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.874 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2 17.874 * [taylor]: Taking taylor expansion of R in lambda2 17.874 * [backup-simplify]: Simplify R into R 17.874 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 17.874 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.874 * [backup-simplify]: Simplify 0 into 0 17.874 * [backup-simplify]: Simplify 1 into 1 17.875 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.875 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.875 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.875 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.875 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3) 17.875 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.876 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.876 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.876 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.876 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3) 17.876 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)) into (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)) 17.877 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3))) into (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3))) 17.877 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) into (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) 17.878 * [backup-simplify]: Simplify (* 1 1) into 1 17.879 * [backup-simplify]: Simplify (* 1 1) into 1 17.879 * [backup-simplify]: Simplify (* R 1) into R 17.880 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) into (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) 17.880 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 17.880 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 17.880 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 17.880 * [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 17.880 * [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 17.880 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.880 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.880 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.880 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.880 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.880 * [backup-simplify]: Simplify 0.5 into 0.5 17.880 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.880 * [backup-simplify]: Simplify phi1 into phi1 17.880 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.880 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.880 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.881 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.881 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.881 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.881 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.881 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.881 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.881 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.881 * [backup-simplify]: Simplify 0.5 into 0.5 17.881 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.881 * [backup-simplify]: Simplify phi2 into phi2 17.881 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.881 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.881 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.881 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.882 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.882 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.882 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.882 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.882 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.882 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.882 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.882 * [backup-simplify]: Simplify 0.5 into 0.5 17.882 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.882 * [backup-simplify]: Simplify phi1 into phi1 17.882 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.882 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.882 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.882 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.882 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.883 * [backup-simplify]: Simplify (- 0) into 0 17.883 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.883 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.883 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.883 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.883 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.883 * [backup-simplify]: Simplify 0.5 into 0.5 17.883 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.883 * [backup-simplify]: Simplify phi2 into phi2 17.883 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.884 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.884 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.884 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.884 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.884 * [backup-simplify]: Simplify (- 0) into 0 17.885 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.885 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.885 * [taylor]: Taking taylor expansion of 2 in lambda2 17.885 * [backup-simplify]: Simplify 2 into 2 17.885 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.885 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.885 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.885 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.885 * [backup-simplify]: Simplify 0.5 into 0.5 17.885 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.885 * [backup-simplify]: Simplify phi1 into phi1 17.885 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.885 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.885 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.885 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.885 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.885 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.885 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.885 * [backup-simplify]: Simplify 0.5 into 0.5 17.885 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.885 * [backup-simplify]: Simplify phi1 into phi1 17.885 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.886 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.886 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.886 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.886 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.886 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.886 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.886 * [backup-simplify]: Simplify 0.5 into 0.5 17.886 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.886 * [backup-simplify]: Simplify phi2 into phi2 17.886 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.886 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.886 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.886 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.886 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.886 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.886 * [backup-simplify]: Simplify 0.5 into 0.5 17.886 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.886 * [backup-simplify]: Simplify phi2 into phi2 17.886 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.887 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.887 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.887 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.887 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.888 * [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)) 17.888 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.888 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.888 * [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)) 17.889 * [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))) 17.889 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.890 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.890 * [backup-simplify]: Simplify (- 0) into 0 17.891 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.891 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.891 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.891 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.891 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.891 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.891 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.891 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.891 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.892 * [backup-simplify]: Simplify (- 0) into 0 17.892 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.892 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.893 * [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)))) 17.893 * [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))))) 17.893 * [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)))))) 17.894 * [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))))))) 17.895 * [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))))))) 17.898 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.901 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 17.903 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 17.905 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 17.905 * [backup-simplify]: Simplify (+ 0) into 0 17.906 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.906 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.907 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.907 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.908 * [backup-simplify]: Simplify (+ 0 0) into 0 17.908 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.908 * [backup-simplify]: Simplify (+ 0) into 0 17.909 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.909 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.910 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.911 * [backup-simplify]: Simplify (+ 0 0) into 0 17.911 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.911 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.912 * [backup-simplify]: Simplify (+ 0) into 0 17.912 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.912 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.914 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.914 * [backup-simplify]: Simplify (- 0) into 0 17.915 * [backup-simplify]: Simplify (+ 0 0) into 0 17.915 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.915 * [backup-simplify]: Simplify (+ 0) into 0 17.916 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.916 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.917 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.917 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.918 * [backup-simplify]: Simplify (- 0) into 0 17.918 * [backup-simplify]: Simplify (+ 0 0) into 0 17.918 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.919 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.919 * [backup-simplify]: Simplify (+ 0 0) into 0 17.920 * [backup-simplify]: Simplify (+ 0) into 0 17.920 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.920 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.921 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.922 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.922 * [backup-simplify]: Simplify (- 0) into 0 17.923 * [backup-simplify]: Simplify (+ 0 0) into 0 17.923 * [backup-simplify]: Simplify (+ 0) into 0 17.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.924 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.925 * [backup-simplify]: Simplify (+ 0 0) into 0 17.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.926 * [backup-simplify]: Simplify (+ 0) into 0 17.927 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.927 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.928 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.928 * [backup-simplify]: Simplify (+ 0 0) into 0 17.929 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 17.929 * [backup-simplify]: Simplify (+ 0) into 0 17.930 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.930 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.931 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.932 * [backup-simplify]: Simplify (- 0) into 0 17.932 * [backup-simplify]: Simplify (+ 0 0) into 0 17.932 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 17.933 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 17.934 * [backup-simplify]: Simplify (- 0) into 0 17.934 * [backup-simplify]: Simplify (+ 0 0) into 0 17.937 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 17.940 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 17.944 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.947 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 17.947 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))))))) in lambda2 17.947 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in lambda2 17.947 * [taylor]: Taking taylor expansion of 2 in lambda2 17.947 * [backup-simplify]: Simplify 2 into 2 17.947 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 17.947 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) (* R (pow lambda2 3))) in lambda2 17.947 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) in lambda2 17.947 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in lambda2 17.947 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.947 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.947 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.947 * [backup-simplify]: Simplify 0.5 into 0.5 17.947 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.947 * [backup-simplify]: Simplify phi1 into phi1 17.948 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.948 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.948 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.948 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.948 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.948 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.948 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2)))) in lambda2 17.948 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.948 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.948 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.948 * [backup-simplify]: Simplify 0.5 into 0.5 17.948 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.948 * [backup-simplify]: Simplify phi1 into phi1 17.948 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.949 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.949 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.949 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))) in lambda2 17.949 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in lambda2 17.949 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.949 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.949 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.949 * [backup-simplify]: Simplify 0.5 into 0.5 17.949 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.949 * [backup-simplify]: Simplify phi2 into phi2 17.949 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.949 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.949 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.949 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.949 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.950 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.950 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.950 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.950 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.950 * [backup-simplify]: Simplify 0.5 into 0.5 17.950 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.950 * [backup-simplify]: Simplify phi2 into phi2 17.950 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.950 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.950 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.950 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2 17.950 * [taylor]: Taking taylor expansion of R in lambda2 17.950 * [backup-simplify]: Simplify R into R 17.950 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 17.950 * [taylor]: Taking taylor expansion of lambda2 in lambda2 17.950 * [backup-simplify]: Simplify 0 into 0 17.950 * [backup-simplify]: Simplify 1 into 1 17.951 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.951 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3) 17.951 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.951 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.952 * [backup-simplify]: Simplify (- 0) into 0 17.952 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.952 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.952 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3) 17.953 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.953 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.953 * [backup-simplify]: Simplify (- 0) into 0 17.953 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.954 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))) into (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))) 17.954 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2)))) 17.954 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 3) (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) 17.955 * [backup-simplify]: Simplify (* 1 1) into 1 17.955 * [backup-simplify]: Simplify (* 1 1) into 1 17.955 * [backup-simplify]: Simplify (* R 1) into R 17.956 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) into (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) 17.956 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 17.956 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 17.956 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 17.956 * [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 17.956 * [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 17.956 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 17.956 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 17.956 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.956 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.956 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.957 * [backup-simplify]: Simplify 0.5 into 0.5 17.957 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.957 * [backup-simplify]: Simplify phi1 into phi1 17.957 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.957 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.957 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 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 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 17.957 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.957 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.957 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.957 * [backup-simplify]: Simplify 0.5 into 0.5 17.957 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.957 * [backup-simplify]: Simplify phi2 into phi2 17.958 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.958 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.958 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.958 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.958 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 17.958 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 17.958 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.958 * [backup-simplify]: Simplify 0.5 into 0.5 17.958 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.958 * [backup-simplify]: Simplify phi1 into phi1 17.958 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.959 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.959 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.959 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.959 * [backup-simplify]: Simplify (- 0) into 0 17.960 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.960 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 17.960 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.960 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.960 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.960 * [backup-simplify]: Simplify 0.5 into 0.5 17.960 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.960 * [backup-simplify]: Simplify phi2 into phi2 17.960 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.960 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.960 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.960 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.960 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.961 * [backup-simplify]: Simplify (- 0) into 0 17.961 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.961 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 17.961 * [taylor]: Taking taylor expansion of 2 in lambda2 17.961 * [backup-simplify]: Simplify 2 into 2 17.961 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 17.961 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 17.961 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.961 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.961 * [backup-simplify]: Simplify 0.5 into 0.5 17.961 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.961 * [backup-simplify]: Simplify phi1 into phi1 17.961 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.961 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.961 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.962 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 17.962 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 17.962 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 17.962 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.962 * [backup-simplify]: Simplify 0.5 into 0.5 17.962 * [taylor]: Taking taylor expansion of phi1 in lambda2 17.962 * [backup-simplify]: Simplify phi1 into phi1 17.962 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 17.962 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 17.962 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 17.962 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 17.962 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 17.962 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.962 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.962 * [backup-simplify]: Simplify 0.5 into 0.5 17.962 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.962 * [backup-simplify]: Simplify phi2 into phi2 17.962 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.962 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.962 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.963 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 17.963 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 17.963 * [taylor]: Taking taylor expansion of 0.5 in lambda2 17.963 * [backup-simplify]: Simplify 0.5 into 0.5 17.963 * [taylor]: Taking taylor expansion of phi2 in lambda2 17.963 * [backup-simplify]: Simplify phi2 into phi2 17.963 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 17.963 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 17.963 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 17.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 17.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 17.964 * [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)) 17.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 17.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 17.964 * [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)) 17.965 * [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))) 17.965 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 17.966 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 17.966 * [backup-simplify]: Simplify (- 0) into 0 17.966 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 17.966 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 17.967 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 17.967 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 17.967 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 17.967 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 17.967 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 17.967 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 17.967 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 17.968 * [backup-simplify]: Simplify (- 0) into 0 17.968 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 17.968 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 17.968 * [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)))) 17.969 * [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))))) 17.969 * [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)))))) 17.969 * [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))))))) 17.971 * [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))))))) 17.974 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 17.977 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 17.979 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 17.980 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 17.981 * [backup-simplify]: Simplify (+ 0) into 0 17.982 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.982 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.983 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.984 * [backup-simplify]: Simplify (+ 0 0) into 0 17.984 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 17.984 * [backup-simplify]: Simplify (+ 0) into 0 17.985 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.985 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.986 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.986 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.987 * [backup-simplify]: Simplify (+ 0 0) into 0 17.987 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 17.988 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 17.988 * [backup-simplify]: Simplify (+ 0) into 0 17.988 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.989 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.989 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.990 * [backup-simplify]: Simplify (- 0) into 0 17.991 * [backup-simplify]: Simplify (+ 0 0) into 0 17.991 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.992 * [backup-simplify]: Simplify (+ 0) into 0 17.992 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.992 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.993 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 17.993 * [backup-simplify]: Simplify (- 0) into 0 17.994 * [backup-simplify]: Simplify (+ 0 0) into 0 17.994 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 17.994 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 17.994 * [backup-simplify]: Simplify (+ 0 0) into 0 17.994 * [backup-simplify]: Simplify (+ 0) into 0 17.995 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.995 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.996 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.996 * [backup-simplify]: Simplify (- 0) into 0 17.996 * [backup-simplify]: Simplify (+ 0 0) into 0 17.996 * [backup-simplify]: Simplify (+ 0) into 0 17.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 17.997 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 17.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 17.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 17.998 * [backup-simplify]: Simplify (+ 0 0) into 0 17.998 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 17.998 * [backup-simplify]: Simplify (+ 0) into 0 17.999 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 17.999 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 17.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.000 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.000 * [backup-simplify]: Simplify (+ 0 0) into 0 18.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 18.000 * [backup-simplify]: Simplify (+ 0) into 0 18.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.001 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 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 (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.003 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 18.003 * [backup-simplify]: Simplify (- 0) into 0 18.003 * [backup-simplify]: Simplify (+ 0 0) into 0 18.005 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 18.007 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 18.009 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.010 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.010 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))))) in lambda2 18.010 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* R (* lambda2 phi1)))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 18.010 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* R (* lambda2 phi1)))) in lambda2 18.010 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 18.010 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 18.010 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.010 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.010 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.010 * [backup-simplify]: Simplify 0.5 into 0.5 18.010 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.010 * [backup-simplify]: Simplify phi1 into phi1 18.010 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.010 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.010 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.010 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.010 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.011 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.011 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 18.011 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.011 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.011 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.011 * [backup-simplify]: Simplify 0.5 into 0.5 18.011 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.011 * [backup-simplify]: Simplify phi2 into phi2 18.011 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.011 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.011 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.011 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.011 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.011 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.011 * [taylor]: Taking taylor expansion of (* phi2 (* R (* lambda2 phi1))) in lambda2 18.011 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.011 * [backup-simplify]: Simplify phi2 into phi2 18.011 * [taylor]: Taking taylor expansion of (* R (* lambda2 phi1)) in lambda2 18.011 * [taylor]: Taking taylor expansion of R in lambda2 18.011 * [backup-simplify]: Simplify R into R 18.011 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2 18.011 * [taylor]: Taking taylor expansion of lambda2 in lambda2 18.011 * [backup-simplify]: Simplify 0 into 0 18.011 * [backup-simplify]: Simplify 1 into 1 18.011 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.011 * [backup-simplify]: Simplify phi1 into phi1 18.011 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.011 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.012 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.012 * [backup-simplify]: Simplify (* 0 phi1) into 0 18.012 * [backup-simplify]: Simplify (* R 0) into 0 18.012 * [backup-simplify]: Simplify (* phi2 0) into 0 18.016 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1 18.016 * [backup-simplify]: Simplify (+ (* R phi1) (* 0 0)) into (* R phi1) 18.017 * [backup-simplify]: Simplify (+ (* phi2 (* R phi1)) (* 0 0)) into (* phi2 (* R phi1)) 18.017 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* R phi1))) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) 18.017 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 18.017 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 18.017 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 18.017 * [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 18.017 * [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 18.017 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 18.017 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 18.017 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.017 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.017 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.017 * [backup-simplify]: Simplify 0.5 into 0.5 18.017 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.017 * [backup-simplify]: Simplify phi1 into phi1 18.017 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.017 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.018 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.018 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.018 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.018 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.018 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 18.018 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.018 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.018 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.018 * [backup-simplify]: Simplify 0.5 into 0.5 18.018 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.018 * [backup-simplify]: Simplify phi2 into phi2 18.018 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.018 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.018 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.018 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.018 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.018 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.018 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 18.018 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 18.018 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.018 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.018 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.018 * [backup-simplify]: Simplify 0.5 into 0.5 18.018 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.018 * [backup-simplify]: Simplify phi1 into phi1 18.018 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.018 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.019 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.019 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.019 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.019 * [backup-simplify]: Simplify (- 0) into 0 18.019 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.019 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 18.019 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.019 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.019 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.019 * [backup-simplify]: Simplify 0.5 into 0.5 18.019 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.019 * [backup-simplify]: Simplify phi2 into phi2 18.019 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.019 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.019 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.019 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.019 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.020 * [backup-simplify]: Simplify (- 0) into 0 18.020 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.020 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 18.020 * [taylor]: Taking taylor expansion of 2 in lambda2 18.020 * [backup-simplify]: Simplify 2 into 2 18.020 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 18.020 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.020 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.020 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.020 * [backup-simplify]: Simplify 0.5 into 0.5 18.020 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.020 * [backup-simplify]: Simplify phi1 into phi1 18.020 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.020 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.020 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.020 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 18.020 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.020 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.020 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.020 * [backup-simplify]: Simplify 0.5 into 0.5 18.020 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.020 * [backup-simplify]: Simplify phi1 into phi1 18.020 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.020 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.020 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.020 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 18.020 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.020 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.021 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.021 * [backup-simplify]: Simplify 0.5 into 0.5 18.021 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.021 * [backup-simplify]: Simplify phi2 into phi2 18.021 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.021 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.021 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.021 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.021 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.021 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.021 * [backup-simplify]: Simplify 0.5 into 0.5 18.021 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.021 * [backup-simplify]: Simplify phi2 into phi2 18.021 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.021 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.021 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.021 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.021 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.021 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 18.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 18.022 * [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)) 18.022 * [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))) 18.022 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.022 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.023 * [backup-simplify]: Simplify (- 0) into 0 18.023 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.023 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.023 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.023 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.023 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.023 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.023 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.023 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.023 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.024 * [backup-simplify]: Simplify (- 0) into 0 18.024 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.024 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 18.024 * [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)))) 18.024 * [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))))) 18.025 * [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)))))) 18.025 * [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))))))) 18.027 * [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))))))) 18.030 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 18.033 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 18.034 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 18.036 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 18.037 * [backup-simplify]: Simplify (+ 0) into 0 18.037 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.038 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.039 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.040 * [backup-simplify]: Simplify (+ 0 0) into 0 18.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.040 * [backup-simplify]: Simplify (+ 0) into 0 18.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.041 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.043 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.044 * [backup-simplify]: Simplify (+ 0 0) into 0 18.044 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.044 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 18.045 * [backup-simplify]: Simplify (+ 0) into 0 18.045 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.046 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.046 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.047 * [backup-simplify]: Simplify (- 0) into 0 18.048 * [backup-simplify]: Simplify (+ 0 0) into 0 18.048 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.048 * [backup-simplify]: Simplify (+ 0) into 0 18.049 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.049 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.050 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.051 * [backup-simplify]: Simplify (- 0) into 0 18.051 * [backup-simplify]: Simplify (+ 0 0) into 0 18.051 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 18.052 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 18.052 * [backup-simplify]: Simplify (+ 0 0) into 0 18.052 * [backup-simplify]: Simplify (+ 0) into 0 18.053 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.054 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.054 * [backup-simplify]: Simplify (- 0) into 0 18.054 * [backup-simplify]: Simplify (+ 0 0) into 0 18.055 * [backup-simplify]: Simplify (+ 0) into 0 18.055 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.055 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.055 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.056 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.056 * [backup-simplify]: Simplify (+ 0 0) into 0 18.056 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.056 * [backup-simplify]: Simplify (+ 0) into 0 18.057 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.057 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.057 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.058 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.058 * [backup-simplify]: Simplify (+ 0 0) into 0 18.058 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 18.058 * [backup-simplify]: Simplify (+ 0) into 0 18.059 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.059 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.059 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.060 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.060 * [backup-simplify]: Simplify (- 0) into 0 18.060 * [backup-simplify]: Simplify (+ 0 0) into 0 18.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.061 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 18.061 * [backup-simplify]: Simplify (- 0) into 0 18.062 * [backup-simplify]: Simplify (+ 0 0) into 0 18.063 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 18.065 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 18.067 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.068 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.068 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))))) in lambda2 18.068 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) in lambda2 18.068 * [taylor]: Taking taylor expansion of 1/2 in lambda2 18.068 * [backup-simplify]: Simplify 1/2 into 1/2 18.068 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) in lambda2 18.068 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) (* (pow lambda2 3) R)) in lambda2 18.068 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) in lambda2 18.068 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 6) in lambda2 18.068 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.068 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.068 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.068 * [backup-simplify]: Simplify 0.5 into 0.5 18.068 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.068 * [backup-simplify]: Simplify phi1 into phi1 18.068 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.068 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.068 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.068 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.068 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.069 * [backup-simplify]: Simplify (- 0) into 0 18.069 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.069 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 6) in lambda2 18.069 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.069 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.069 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.069 * [backup-simplify]: Simplify 0.5 into 0.5 18.069 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.069 * [backup-simplify]: Simplify phi2 into phi2 18.069 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.069 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.069 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.069 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.069 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.070 * [backup-simplify]: Simplify (- 0) into 0 18.070 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.070 * [taylor]: Taking taylor expansion of (* (pow lambda2 3) R) in lambda2 18.070 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 18.070 * [taylor]: Taking taylor expansion of lambda2 in lambda2 18.070 * [backup-simplify]: Simplify 0 into 0 18.070 * [backup-simplify]: Simplify 1 into 1 18.070 * [taylor]: Taking taylor expansion of R in lambda2 18.070 * [backup-simplify]: Simplify R into R 18.070 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 18.070 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3) 18.070 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (pow (cos (/ 0.5 phi1)) 3)) into (pow (cos (/ 0.5 phi1)) 6) 18.070 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 18.071 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3) 18.071 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)) into (pow (cos (/ 0.5 phi2)) 6) 18.071 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) into (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) 18.071 * [backup-simplify]: Simplify (* 1 1) into 1 18.072 * [backup-simplify]: Simplify (* 1 1) into 1 18.072 * [backup-simplify]: Simplify (* 1 R) into R 18.072 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) R) into (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) R) 18.072 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) in lambda2 18.072 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) in lambda2 18.072 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) in lambda2 18.072 * [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 18.072 * [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 18.072 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 18.072 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 18.072 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.072 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.072 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.072 * [backup-simplify]: Simplify 0.5 into 0.5 18.072 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.072 * [backup-simplify]: Simplify phi1 into phi1 18.072 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.072 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.072 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.072 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.072 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.073 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.073 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 18.073 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.073 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.073 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.073 * [backup-simplify]: Simplify 0.5 into 0.5 18.073 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.073 * [backup-simplify]: Simplify phi2 into phi2 18.073 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.073 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.073 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.073 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.073 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.073 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.073 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 18.073 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 18.073 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.073 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.073 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.073 * [backup-simplify]: Simplify 0.5 into 0.5 18.073 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.073 * [backup-simplify]: Simplify phi1 into phi1 18.073 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.073 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.073 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.073 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.073 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.074 * [backup-simplify]: Simplify (- 0) into 0 18.074 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.074 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 18.074 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.074 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.074 * [backup-simplify]: Simplify 0.5 into 0.5 18.074 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.074 * [backup-simplify]: Simplify phi2 into phi2 18.074 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.074 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.074 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.074 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.074 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.074 * [backup-simplify]: Simplify (- 0) into 0 18.075 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.075 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 18.075 * [taylor]: Taking taylor expansion of 2 in lambda2 18.075 * [backup-simplify]: Simplify 2 into 2 18.075 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 18.075 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.075 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.075 * [backup-simplify]: Simplify 0.5 into 0.5 18.075 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.075 * [backup-simplify]: Simplify phi1 into phi1 18.075 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.075 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.075 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 18.075 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.075 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.075 * [backup-simplify]: Simplify 0.5 into 0.5 18.075 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.075 * [backup-simplify]: Simplify phi1 into phi1 18.075 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.075 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.075 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 18.075 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.075 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.075 * [backup-simplify]: Simplify 0.5 into 0.5 18.075 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.075 * [backup-simplify]: Simplify phi2 into phi2 18.075 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.075 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.075 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.075 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.075 * [backup-simplify]: Simplify 0.5 into 0.5 18.076 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.076 * [backup-simplify]: Simplify phi2 into phi2 18.076 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.076 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.076 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.076 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.076 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 18.076 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 18.077 * [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)) 18.077 * [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))) 18.077 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.077 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.077 * [backup-simplify]: Simplify (- 0) into 0 18.078 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.078 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.078 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.078 * [backup-simplify]: Simplify (- 0) into 0 18.078 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 18.079 * [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)))) 18.079 * [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))))) 18.079 * [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)))))) 18.079 * [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))))))) 18.080 * [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))))))) 18.082 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 18.083 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4) 18.085 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) 18.086 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) 18.087 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) 18.087 * [backup-simplify]: Simplify (+ 0) into 0 18.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.088 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.088 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.089 * [backup-simplify]: Simplify (+ 0 0) into 0 18.089 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.089 * [backup-simplify]: Simplify (+ 0) into 0 18.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.090 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.091 * [backup-simplify]: Simplify (+ 0 0) into 0 18.091 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.091 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 18.092 * [backup-simplify]: Simplify (+ 0) into 0 18.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.092 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.093 * [backup-simplify]: Simplify (- 0) into 0 18.094 * [backup-simplify]: Simplify (+ 0 0) into 0 18.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.094 * [backup-simplify]: Simplify (+ 0) into 0 18.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.094 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.096 * [backup-simplify]: Simplify (- 0) into 0 18.096 * [backup-simplify]: Simplify (+ 0 0) into 0 18.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 18.096 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 18.097 * [backup-simplify]: Simplify (+ 0 0) into 0 18.097 * [backup-simplify]: Simplify (+ 0) into 0 18.097 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.097 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.098 * [backup-simplify]: Simplify (- 0) into 0 18.099 * [backup-simplify]: Simplify (+ 0 0) into 0 18.099 * [backup-simplify]: Simplify (+ 0) into 0 18.099 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.099 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.100 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.100 * [backup-simplify]: Simplify (+ 0 0) into 0 18.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.101 * [backup-simplify]: Simplify (+ 0) into 0 18.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.101 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.103 * [backup-simplify]: Simplify (+ 0 0) into 0 18.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 18.103 * [backup-simplify]: Simplify (+ 0) into 0 18.103 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.104 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.105 * [backup-simplify]: Simplify (- 0) into 0 18.105 * [backup-simplify]: Simplify (+ 0 0) into 0 18.105 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.106 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 18.106 * [backup-simplify]: Simplify (- 0) into 0 18.106 * [backup-simplify]: Simplify (+ 0 0) into 0 18.108 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 18.109 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 18.111 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4))) into 0 18.113 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.114 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.114 * [taylor]: Taking taylor expansion of (+ (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))) in lambda2 18.114 * [taylor]: Taking taylor expansion of (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) in lambda2 18.114 * [taylor]: Taking taylor expansion of 15/2 in lambda2 18.114 * [backup-simplify]: Simplify 15/2 into 15/2 18.114 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) in lambda2 18.114 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) (* R (pow lambda2 3))) in lambda2 18.114 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) in lambda2 18.114 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 4) in lambda2 18.114 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.114 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.114 * [backup-simplify]: Simplify 0.5 into 0.5 18.114 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.114 * [backup-simplify]: Simplify phi1 into phi1 18.114 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.114 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.114 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.115 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.115 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2))) in lambda2 18.115 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 18.115 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.115 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.115 * [backup-simplify]: Simplify 0.5 into 0.5 18.115 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.115 * [backup-simplify]: Simplify phi1 into phi1 18.115 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.115 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.116 * [backup-simplify]: Simplify (- 0) into 0 18.116 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.116 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 18.116 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 4) in lambda2 18.116 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.116 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.116 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.116 * [backup-simplify]: Simplify 0.5 into 0.5 18.116 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.116 * [backup-simplify]: Simplify phi2 into phi2 18.116 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.116 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.116 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.116 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.116 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 18.116 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.116 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.116 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.116 * [backup-simplify]: Simplify 0.5 into 0.5 18.116 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.116 * [backup-simplify]: Simplify phi2 into phi2 18.116 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.116 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.116 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.117 * [backup-simplify]: Simplify (- 0) into 0 18.117 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.117 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2 18.117 * [taylor]: Taking taylor expansion of R in lambda2 18.117 * [backup-simplify]: Simplify R into R 18.117 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 18.117 * [taylor]: Taking taylor expansion of lambda2 in lambda2 18.117 * [backup-simplify]: Simplify 0 into 0 18.117 * [backup-simplify]: Simplify 1 into 1 18.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.117 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 4) 18.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 18.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.118 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 4) 18.118 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 18.118 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)) 18.118 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2))) 18.119 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) 18.119 * [backup-simplify]: Simplify (* 1 1) into 1 18.119 * [backup-simplify]: Simplify (* 1 1) into 1 18.119 * [backup-simplify]: Simplify (* R 1) into R 18.120 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) R) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) R) 18.120 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) in lambda2 18.120 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) in lambda2 18.120 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) in lambda2 18.120 * [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 18.120 * [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 18.120 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 18.120 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 18.120 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.120 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.120 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.120 * [backup-simplify]: Simplify 0.5 into 0.5 18.120 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.120 * [backup-simplify]: Simplify phi1 into phi1 18.120 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.120 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.120 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.121 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.121 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 18.121 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.121 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.121 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.121 * [backup-simplify]: Simplify 0.5 into 0.5 18.121 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.121 * [backup-simplify]: Simplify phi2 into phi2 18.121 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.121 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.121 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.121 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.121 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 18.121 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 18.121 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.121 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.121 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.121 * [backup-simplify]: Simplify 0.5 into 0.5 18.121 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.121 * [backup-simplify]: Simplify phi1 into phi1 18.121 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.121 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.121 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.122 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.122 * [backup-simplify]: Simplify (- 0) into 0 18.122 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.122 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 18.122 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.122 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.122 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.122 * [backup-simplify]: Simplify 0.5 into 0.5 18.122 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.122 * [backup-simplify]: Simplify phi2 into phi2 18.122 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.123 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.123 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.123 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.123 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.123 * [backup-simplify]: Simplify (- 0) into 0 18.123 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.123 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 18.123 * [taylor]: Taking taylor expansion of 2 in lambda2 18.123 * [backup-simplify]: Simplify 2 into 2 18.123 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 18.123 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.123 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.124 * [backup-simplify]: Simplify 0.5 into 0.5 18.124 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.124 * [backup-simplify]: Simplify phi1 into phi1 18.124 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.124 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.124 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 18.124 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.124 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.124 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.124 * [backup-simplify]: Simplify 0.5 into 0.5 18.124 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.124 * [backup-simplify]: Simplify phi1 into phi1 18.124 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.124 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.124 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 18.124 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.124 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.124 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.124 * [backup-simplify]: Simplify 0.5 into 0.5 18.124 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.125 * [backup-simplify]: Simplify phi2 into phi2 18.125 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.125 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.125 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.125 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.125 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.125 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.125 * [backup-simplify]: Simplify 0.5 into 0.5 18.125 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.125 * [backup-simplify]: Simplify phi2 into phi2 18.125 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.125 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.125 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.125 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.126 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.126 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.126 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 18.127 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 18.127 * [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)) 18.128 * [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))) 18.128 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.128 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.129 * [backup-simplify]: Simplify (- 0) into 0 18.129 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.129 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.129 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.129 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.129 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.129 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.129 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.129 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.130 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.130 * [backup-simplify]: Simplify (- 0) into 0 18.130 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.130 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 18.130 * [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)))) 18.130 * [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))))) 18.131 * [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)))))) 18.131 * [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))))))) 18.132 * [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))))))) 18.133 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 18.135 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4) 18.136 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) 18.137 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) 18.138 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) 18.139 * [backup-simplify]: Simplify (+ 0) into 0 18.139 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.139 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.140 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.143 * [backup-simplify]: Simplify (+ 0 0) into 0 18.143 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.144 * [backup-simplify]: Simplify (+ 0) into 0 18.144 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.144 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.145 * [backup-simplify]: Simplify (+ 0 0) into 0 18.146 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.146 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 18.146 * [backup-simplify]: Simplify (+ 0) into 0 18.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.147 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.147 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.148 * [backup-simplify]: Simplify (- 0) into 0 18.148 * [backup-simplify]: Simplify (+ 0 0) into 0 18.148 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.148 * [backup-simplify]: Simplify (+ 0) into 0 18.149 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.149 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.149 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.150 * [backup-simplify]: Simplify (- 0) into 0 18.150 * [backup-simplify]: Simplify (+ 0 0) into 0 18.150 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 18.150 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 18.151 * [backup-simplify]: Simplify (+ 0 0) into 0 18.151 * [backup-simplify]: Simplify (+ 0) into 0 18.151 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.151 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.153 * [backup-simplify]: Simplify (- 0) into 0 18.153 * [backup-simplify]: Simplify (+ 0 0) into 0 18.153 * [backup-simplify]: Simplify (+ 0) into 0 18.153 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.154 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.154 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.155 * [backup-simplify]: Simplify (+ 0 0) into 0 18.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.155 * [backup-simplify]: Simplify (+ 0) into 0 18.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.155 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.157 * [backup-simplify]: Simplify (+ 0 0) into 0 18.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 18.157 * [backup-simplify]: Simplify (+ 0) into 0 18.157 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.157 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.158 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.159 * [backup-simplify]: Simplify (- 0) into 0 18.159 * [backup-simplify]: Simplify (+ 0 0) into 0 18.159 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.160 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 18.160 * [backup-simplify]: Simplify (- 0) into 0 18.160 * [backup-simplify]: Simplify (+ 0 0) into 0 18.162 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 18.164 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 18.165 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4))) into 0 18.167 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.168 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.168 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))) in lambda2 18.168 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in lambda2 18.168 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) (* lambda2 R))) in lambda2 18.168 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 18.168 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.168 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.168 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.168 * [backup-simplify]: Simplify 0.5 into 0.5 18.168 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.168 * [backup-simplify]: Simplify phi1 into phi1 18.168 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.168 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.169 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 18.169 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.169 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.169 * [backup-simplify]: Simplify 0.5 into 0.5 18.169 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.169 * [backup-simplify]: Simplify phi1 into phi1 18.169 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.169 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 18.169 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.169 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.169 * [backup-simplify]: Simplify 0.5 into 0.5 18.169 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.169 * [backup-simplify]: Simplify phi2 into phi2 18.169 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.169 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.169 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.169 * [backup-simplify]: Simplify 0.5 into 0.5 18.169 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.169 * [backup-simplify]: Simplify phi2 into phi2 18.169 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.169 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* lambda2 R)) in lambda2 18.169 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 18.169 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.169 * [backup-simplify]: Simplify phi1 into phi1 18.169 * [taylor]: Taking taylor expansion of (* lambda2 R) in lambda2 18.169 * [taylor]: Taking taylor expansion of lambda2 in lambda2 18.169 * [backup-simplify]: Simplify 0 into 0 18.169 * [backup-simplify]: Simplify 1 into 1 18.169 * [taylor]: Taking taylor expansion of R in lambda2 18.169 * [backup-simplify]: Simplify R into R 18.170 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.170 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.170 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.170 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.170 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.170 * [backup-simplify]: Simplify (- 0) into 0 18.170 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.170 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.170 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.170 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.171 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.171 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.171 * [backup-simplify]: Simplify (- 0) into 0 18.171 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.171 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 18.171 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 18.171 * [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))))) 18.171 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 18.171 * [backup-simplify]: Simplify (* 0 R) into 0 18.172 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0 18.172 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 18.172 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 18.172 * [backup-simplify]: Simplify (+ (* (pow phi1 2) R) (* 0 0)) into (* (pow phi1 2) R) 18.173 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) 18.173 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in lambda2 18.173 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in lambda2 18.173 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in lambda2 18.173 * [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 18.173 * [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 18.173 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 18.173 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 18.173 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.173 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.173 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.173 * [backup-simplify]: Simplify 0.5 into 0.5 18.173 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.173 * [backup-simplify]: Simplify phi1 into phi1 18.173 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.173 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.173 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.173 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.173 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.173 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.173 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 18.173 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.173 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.173 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.173 * [backup-simplify]: Simplify 0.5 into 0.5 18.173 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.173 * [backup-simplify]: Simplify phi2 into phi2 18.173 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.173 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.173 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.174 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.174 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.174 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.174 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 18.174 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 18.174 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.174 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.174 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.174 * [backup-simplify]: Simplify 0.5 into 0.5 18.174 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.174 * [backup-simplify]: Simplify phi1 into phi1 18.174 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.174 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.174 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.174 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.174 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.174 * [backup-simplify]: Simplify (- 0) into 0 18.174 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.174 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 18.175 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.175 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.175 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.175 * [backup-simplify]: Simplify 0.5 into 0.5 18.175 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.175 * [backup-simplify]: Simplify phi2 into phi2 18.175 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.175 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.175 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.175 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.175 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.175 * [backup-simplify]: Simplify (- 0) into 0 18.175 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.175 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 18.175 * [taylor]: Taking taylor expansion of 2 in lambda2 18.175 * [backup-simplify]: Simplify 2 into 2 18.175 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 18.175 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.175 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.175 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.175 * [backup-simplify]: Simplify 0.5 into 0.5 18.175 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.175 * [backup-simplify]: Simplify phi1 into phi1 18.175 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.176 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.176 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.176 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 18.176 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.176 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.176 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.176 * [backup-simplify]: Simplify 0.5 into 0.5 18.176 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.176 * [backup-simplify]: Simplify phi1 into phi1 18.176 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.176 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.176 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.176 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 18.176 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.176 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.176 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.176 * [backup-simplify]: Simplify 0.5 into 0.5 18.176 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.176 * [backup-simplify]: Simplify phi2 into phi2 18.176 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.176 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.176 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.176 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.176 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.176 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.176 * [backup-simplify]: Simplify 0.5 into 0.5 18.176 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.176 * [backup-simplify]: Simplify phi2 into phi2 18.176 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.176 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.176 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.176 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.177 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.177 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.177 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 18.177 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 18.177 * [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)) 18.178 * [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))) 18.178 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.178 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.178 * [backup-simplify]: Simplify (- 0) into 0 18.178 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.178 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.178 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.178 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.179 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.179 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.179 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.179 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.179 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.179 * [backup-simplify]: Simplify (- 0) into 0 18.179 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.179 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 18.179 * [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)))) 18.179 * [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))))) 18.180 * [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)))))) 18.180 * [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))))))) 18.181 * [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))))))) 18.182 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 18.184 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 18.185 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 18.186 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 18.186 * [backup-simplify]: Simplify (+ 0) into 0 18.186 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.187 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.187 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.188 * [backup-simplify]: Simplify (+ 0 0) into 0 18.188 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.188 * [backup-simplify]: Simplify (+ 0) into 0 18.188 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.188 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.189 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.190 * [backup-simplify]: Simplify (+ 0 0) into 0 18.190 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.190 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 18.190 * [backup-simplify]: Simplify (+ 0) into 0 18.191 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.191 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.192 * [backup-simplify]: Simplify (- 0) into 0 18.192 * [backup-simplify]: Simplify (+ 0 0) into 0 18.192 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.192 * [backup-simplify]: Simplify (+ 0) into 0 18.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.193 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.194 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.194 * [backup-simplify]: Simplify (- 0) into 0 18.194 * [backup-simplify]: Simplify (+ 0 0) into 0 18.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 18.194 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 18.195 * [backup-simplify]: Simplify (+ 0 0) into 0 18.195 * [backup-simplify]: Simplify (+ 0) into 0 18.195 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.195 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.196 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.196 * [backup-simplify]: Simplify (- 0) into 0 18.197 * [backup-simplify]: Simplify (+ 0 0) into 0 18.197 * [backup-simplify]: Simplify (+ 0) into 0 18.197 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.197 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.198 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.198 * [backup-simplify]: Simplify (+ 0 0) into 0 18.199 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.199 * [backup-simplify]: Simplify (+ 0) into 0 18.199 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.199 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.200 * [backup-simplify]: Simplify (+ 0 0) into 0 18.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 18.201 * [backup-simplify]: Simplify (+ 0) into 0 18.201 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.202 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.202 * [backup-simplify]: Simplify (- 0) into 0 18.203 * [backup-simplify]: Simplify (+ 0 0) into 0 18.203 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.203 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 18.204 * [backup-simplify]: Simplify (- 0) into 0 18.204 * [backup-simplify]: Simplify (+ 0 0) into 0 18.205 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 18.207 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 18.209 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.210 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.210 * [taylor]: Taking taylor expansion of (* 15/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) in lambda2 18.210 * [taylor]: Taking taylor expansion of 15/2 in lambda2 18.210 * [backup-simplify]: Simplify 15/2 into 15/2 18.210 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) in lambda2 18.210 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) (* R (pow lambda2 3))) in lambda2 18.210 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) in lambda2 18.210 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 18.210 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.210 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.210 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.210 * [backup-simplify]: Simplify 0.5 into 0.5 18.210 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.210 * [backup-simplify]: Simplify phi1 into phi1 18.210 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.210 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.210 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.210 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.211 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.211 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.211 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4))) in lambda2 18.211 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 4) in lambda2 18.211 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.211 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.211 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.211 * [backup-simplify]: Simplify 0.5 into 0.5 18.211 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.211 * [backup-simplify]: Simplify phi1 into phi1 18.211 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.211 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.211 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.211 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.211 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.211 * [backup-simplify]: Simplify (- 0) into 0 18.212 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.212 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)) in lambda2 18.212 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 18.212 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.212 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.212 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.212 * [backup-simplify]: Simplify 0.5 into 0.5 18.212 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.212 * [backup-simplify]: Simplify phi2 into phi2 18.212 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.212 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.212 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.212 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.212 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.212 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.212 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 4) in lambda2 18.212 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.212 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.212 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.212 * [backup-simplify]: Simplify 0.5 into 0.5 18.212 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.212 * [backup-simplify]: Simplify phi2 into phi2 18.212 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.212 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.212 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.212 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.212 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.213 * [backup-simplify]: Simplify (- 0) into 0 18.213 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.213 * [taylor]: Taking taylor expansion of (* R (pow lambda2 3)) in lambda2 18.213 * [taylor]: Taking taylor expansion of R in lambda2 18.213 * [backup-simplify]: Simplify R into R 18.213 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 18.213 * [taylor]: Taking taylor expansion of lambda2 in lambda2 18.213 * [backup-simplify]: Simplify 0 into 0 18.213 * [backup-simplify]: Simplify 1 into 1 18.213 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.213 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 18.213 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 4) 18.213 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.214 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 18.214 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 4) 18.214 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)) 18.214 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4))) into (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4))) 18.215 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) into (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) 18.215 * [backup-simplify]: Simplify (* 1 1) into 1 18.215 * [backup-simplify]: Simplify (* 1 1) into 1 18.215 * [backup-simplify]: Simplify (* R 1) into R 18.216 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) R) into (/ (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) R) 18.216 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) in lambda2 18.216 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) in lambda2 18.216 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) in lambda2 18.216 * [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 18.216 * [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 18.216 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2 18.216 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2 18.216 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.216 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.216 * [backup-simplify]: Simplify 0.5 into 0.5 18.216 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.216 * [backup-simplify]: Simplify phi1 into phi1 18.216 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.216 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.216 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.216 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.216 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.216 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.216 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2 18.216 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.216 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.216 * [backup-simplify]: Simplify 0.5 into 0.5 18.216 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.216 * [backup-simplify]: Simplify phi2 into phi2 18.216 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.216 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.217 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.217 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.217 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.217 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.217 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2 18.217 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2 18.217 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.217 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.217 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.217 * [backup-simplify]: Simplify 0.5 into 0.5 18.217 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.217 * [backup-simplify]: Simplify phi1 into phi1 18.217 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.217 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.217 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.217 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.217 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.217 * [backup-simplify]: Simplify (- 0) into 0 18.218 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.218 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2 18.218 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.218 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.218 * [backup-simplify]: Simplify 0.5 into 0.5 18.218 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.218 * [backup-simplify]: Simplify phi2 into phi2 18.218 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.218 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.218 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.218 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.218 * [backup-simplify]: Simplify (- 0) into 0 18.218 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.218 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda2 18.218 * [taylor]: Taking taylor expansion of 2 in lambda2 18.218 * [backup-simplify]: Simplify 2 into 2 18.218 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2 18.218 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2 18.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.218 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.218 * [backup-simplify]: Simplify 0.5 into 0.5 18.218 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.218 * [backup-simplify]: Simplify phi1 into phi1 18.219 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.219 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2 18.219 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2 18.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2 18.219 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.219 * [backup-simplify]: Simplify 0.5 into 0.5 18.219 * [taylor]: Taking taylor expansion of phi1 in lambda2 18.219 * [backup-simplify]: Simplify phi1 into phi1 18.219 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 18.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 18.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 18.219 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2 18.219 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2 18.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.219 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.219 * [backup-simplify]: Simplify 0.5 into 0.5 18.219 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.219 * [backup-simplify]: Simplify phi2 into phi2 18.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2 18.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2 18.219 * [taylor]: Taking taylor expansion of 0.5 in lambda2 18.219 * [backup-simplify]: Simplify 0.5 into 0.5 18.219 * [taylor]: Taking taylor expansion of phi2 in lambda2 18.219 * [backup-simplify]: Simplify phi2 into phi2 18.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 18.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 18.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 18.220 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 18.220 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 18.220 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 18.220 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 18.220 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 18.221 * [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)) 18.221 * [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))) 18.221 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 18.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 18.221 * [backup-simplify]: Simplify (- 0) into 0 18.222 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 18.222 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 18.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 18.222 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 18.222 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 18.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 18.222 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 18.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 18.222 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 18.222 * [backup-simplify]: Simplify (- 0) into 0 18.222 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 18.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 18.223 * [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)))) 18.223 * [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))))) 18.223 * [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)))))) 18.223 * [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))))))) 18.224 * [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))))))) 18.226 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 18.227 * [backup-simplify]: Simplify (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4) 18.230 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5) 18.230 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) 18.231 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) 18.232 * [backup-simplify]: Simplify (+ 0) into 0 18.232 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.232 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.233 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.234 * [backup-simplify]: Simplify (+ 0 0) into 0 18.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.234 * [backup-simplify]: Simplify (+ 0) into 0 18.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.234 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.235 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.235 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.235 * [backup-simplify]: Simplify (+ 0 0) into 0 18.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.236 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 18.236 * [backup-simplify]: Simplify (+ 0) into 0 18.237 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.237 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.237 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.237 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.238 * [backup-simplify]: Simplify (- 0) into 0 18.238 * [backup-simplify]: Simplify (+ 0 0) into 0 18.238 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.239 * [backup-simplify]: Simplify (+ 0) into 0 18.239 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.239 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.240 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.240 * [backup-simplify]: Simplify (- 0) into 0 18.240 * [backup-simplify]: Simplify (+ 0 0) into 0 18.240 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 18.241 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 18.241 * [backup-simplify]: Simplify (+ 0 0) into 0 18.241 * [backup-simplify]: Simplify (+ 0) into 0 18.242 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.242 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.243 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.243 * [backup-simplify]: Simplify (- 0) into 0 18.243 * [backup-simplify]: Simplify (+ 0 0) into 0 18.243 * [backup-simplify]: Simplify (+ 0) into 0 18.244 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.244 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.244 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.245 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.245 * [backup-simplify]: Simplify (+ 0 0) into 0 18.245 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.245 * [backup-simplify]: Simplify (+ 0) into 0 18.245 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.246 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.246 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.247 * [backup-simplify]: Simplify (+ 0 0) into 0 18.247 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 18.247 * [backup-simplify]: Simplify (+ 0) into 0 18.247 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.248 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.248 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.249 * [backup-simplify]: Simplify (- 0) into 0 18.252 * [backup-simplify]: Simplify (+ 0 0) into 0 18.252 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.253 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 18.253 * [backup-simplify]: Simplify (- 0) into 0 18.253 * [backup-simplify]: Simplify (+ 0 0) into 0 18.255 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 18.257 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 18.258 * [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))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4))) into 0 18.260 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.261 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.262 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 18.264 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 18.265 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.265 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.266 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.266 * [backup-simplify]: Simplify (+ 0 0) into 0 18.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.267 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.268 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.268 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.269 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.270 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.270 * [backup-simplify]: Simplify (+ 0 0) into 0 18.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.271 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.272 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.273 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.274 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.275 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.275 * [backup-simplify]: Simplify (- 0) into 0 18.275 * [backup-simplify]: Simplify (+ 0 0) into 0 18.276 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.277 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.278 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.278 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.279 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.279 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.280 * [backup-simplify]: Simplify (- 0) into 0 18.280 * [backup-simplify]: Simplify (+ 0 0) into 0 18.281 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 18.282 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.282 * [backup-simplify]: Simplify (+ 0 0) into 0 18.283 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.284 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.285 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.286 * [backup-simplify]: Simplify (- 0) into 0 18.286 * [backup-simplify]: Simplify (+ 0 0) into 0 18.287 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.288 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.288 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.289 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.289 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.289 * [backup-simplify]: Simplify (+ 0 0) into 0 18.290 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.291 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.292 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.292 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.293 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.293 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.294 * [backup-simplify]: Simplify (+ 0 0) into 0 18.294 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.295 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.296 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.297 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.297 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.298 * [backup-simplify]: Simplify (- 0) into 0 18.298 * [backup-simplify]: Simplify (+ 0 0) into 0 18.299 * [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 18.300 * [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 18.301 * [backup-simplify]: Simplify (- 0) into 0 18.301 * [backup-simplify]: Simplify (+ 0 0) into 0 18.305 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 18.309 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 18.313 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)))) into 0 18.315 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.317 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.317 * [backup-simplify]: Simplify (+ 0) into 0 18.318 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.318 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.319 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.319 * [backup-simplify]: Simplify (- 0) into 0 18.319 * [backup-simplify]: Simplify (+ 0 0) into 0 18.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.320 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 18.320 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 4))) into 0 18.320 * [backup-simplify]: Simplify (+ 0) into 0 18.320 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.321 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.321 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.322 * [backup-simplify]: Simplify (+ 0 0) into 0 18.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 5))) into 0 18.322 * [backup-simplify]: Simplify (+ 0) into 0 18.322 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.323 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.323 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.323 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.324 * [backup-simplify]: Simplify (- 0) into 0 18.324 * [backup-simplify]: Simplify (+ 0 0) into 0 18.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 18.324 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0 18.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 4))) into 0 18.325 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 5) 0) (* 0 (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) into 0 18.325 * [backup-simplify]: Simplify (+ 0) into 0 18.325 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.325 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.326 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.326 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.326 * [backup-simplify]: Simplify (+ 0 0) into 0 18.327 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5))))) into 0 18.327 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.328 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.328 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 18.328 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) R) (/ 0 R)))) into 0 18.329 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.330 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.330 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.331 * [backup-simplify]: Simplify (- 0) into 0 18.331 * [backup-simplify]: Simplify (+ 0 0) into 0 18.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.332 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 4)))) into 0 18.333 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.333 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.334 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.335 * [backup-simplify]: Simplify (+ 0 0) into 0 18.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 5)))) into 0 18.336 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.336 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.336 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.337 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.337 * [backup-simplify]: Simplify (- 0) into 0 18.337 * [backup-simplify]: Simplify (+ 0 0) into 0 18.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 18.338 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0 18.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 4)))) into 0 18.339 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5))))) into 0 18.340 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.341 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.341 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.342 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.342 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.343 * [backup-simplify]: Simplify (+ 0 0) into 0 18.344 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))))) into 0 18.345 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.346 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.347 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 18.348 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 18.351 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))) into 0 18.354 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.356 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) 18.360 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 5) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 5)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))) into 0 18.362 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 18.365 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 18.366 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.367 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.367 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.368 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.368 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.369 * [backup-simplify]: Simplify (+ 0 0) into 0 18.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.370 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.371 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.372 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.373 * [backup-simplify]: Simplify (+ 0 0) into 0 18.373 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.374 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.375 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.376 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.376 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.377 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.378 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.378 * [backup-simplify]: Simplify (- 0) into 0 18.378 * [backup-simplify]: Simplify (+ 0 0) into 0 18.379 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.381 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.381 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.382 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.382 * [backup-simplify]: Simplify (- 0) into 0 18.383 * [backup-simplify]: Simplify (+ 0 0) into 0 18.383 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 18.388 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.389 * [backup-simplify]: Simplify (+ 0 0) into 0 18.390 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.390 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.391 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.392 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.392 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.392 * [backup-simplify]: Simplify (- 0) into 0 18.393 * [backup-simplify]: Simplify (+ 0 0) into 0 18.394 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.395 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.395 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.396 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.396 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.397 * [backup-simplify]: Simplify (+ 0 0) into 0 18.397 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.398 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.399 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.399 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.400 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.401 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.401 * [backup-simplify]: Simplify (+ 0 0) into 0 18.402 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.403 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.404 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.404 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.405 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.406 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.406 * [backup-simplify]: Simplify (- 0) into 0 18.406 * [backup-simplify]: Simplify (+ 0 0) into 0 18.407 * [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 18.408 * [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 18.409 * [backup-simplify]: Simplify (- 0) into 0 18.409 * [backup-simplify]: Simplify (+ 0 0) into 0 18.412 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 18.416 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 18.420 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)))) into 0 18.426 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.429 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.429 * [backup-simplify]: Simplify (+ 0) into 0 18.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.430 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.432 * [backup-simplify]: Simplify (- 0) into 0 18.432 * [backup-simplify]: Simplify (+ 0 0) into 0 18.433 * [backup-simplify]: Simplify (+ 0) into 0 18.433 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.434 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.435 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.435 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.435 * [backup-simplify]: Simplify (+ 0 0) into 0 18.436 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.436 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 18.436 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 4))) into 0 18.437 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 5) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.437 * [backup-simplify]: Simplify (+ 0) into 0 18.438 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.438 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.439 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.440 * [backup-simplify]: Simplify (- 0) into 0 18.440 * [backup-simplify]: Simplify (+ 0 0) into 0 18.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) into 0 18.441 * [backup-simplify]: Simplify (+ 0) into 0 18.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.443 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.444 * [backup-simplify]: Simplify (+ 0 0) into 0 18.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.444 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0 18.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 4))) into 0 18.445 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 5) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2)))))) into 0 18.446 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.447 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.447 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 18.448 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) R) (/ 0 R)))) into 0 18.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.450 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.450 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.451 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.451 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.452 * [backup-simplify]: Simplify (- 0) into 0 18.452 * [backup-simplify]: Simplify (+ 0 0) into 0 18.453 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.454 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.454 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.455 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.456 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.456 * [backup-simplify]: Simplify (+ 0 0) into 0 18.457 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.458 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.458 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 4)))) into 0 18.459 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.460 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.461 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.461 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.462 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.463 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.463 * [backup-simplify]: Simplify (- 0) into 0 18.463 * [backup-simplify]: Simplify (+ 0 0) into 0 18.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2)))))) into 0 18.466 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.467 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.468 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.469 * [backup-simplify]: Simplify (+ 0 0) into 0 18.470 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.471 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0 18.471 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 4)))) into 0 18.472 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))))) into 0 18.473 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.474 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.475 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 18.476 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 18.479 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))) into 0 18.482 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.485 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) into (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) 18.489 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 5) (* (pow (sin (/ 0.5 phi2)) 5) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))) into 0 18.490 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.491 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.491 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.492 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.492 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.493 * [backup-simplify]: Simplify (+ 0 0) into 0 18.493 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.494 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.495 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.495 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.496 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.497 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.497 * [backup-simplify]: Simplify (+ 0 0) into 0 18.498 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.499 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.500 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.501 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.501 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.502 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.503 * [backup-simplify]: Simplify (- 0) into 0 18.503 * [backup-simplify]: Simplify (+ 0 0) into 0 18.504 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.505 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.506 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.507 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.508 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.508 * [backup-simplify]: Simplify (- 0) into 0 18.508 * [backup-simplify]: Simplify (+ 0 0) into 0 18.509 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 18.510 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.510 * [backup-simplify]: Simplify (+ 0 0) into 0 18.511 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.512 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.513 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.514 * [backup-simplify]: Simplify (- 0) into 0 18.515 * [backup-simplify]: Simplify (+ 0 0) into 0 18.516 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.516 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.517 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.518 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.518 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.519 * [backup-simplify]: Simplify (+ 0 0) into 0 18.519 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.520 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.522 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.523 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.523 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.524 * [backup-simplify]: Simplify (+ 0 0) into 0 18.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.526 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.527 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.527 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.528 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.529 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.529 * [backup-simplify]: Simplify (- 0) into 0 18.530 * [backup-simplify]: Simplify (+ 0 0) into 0 18.531 * [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 18.532 * [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 18.532 * [backup-simplify]: Simplify (- 0) into 0 18.533 * [backup-simplify]: Simplify (+ 0 0) into 0 18.536 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 18.540 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 18.546 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.548 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.549 * [backup-simplify]: Simplify (+ 0) into 0 18.550 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.550 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.551 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.551 * [backup-simplify]: Simplify (+ 0 0) into 0 18.552 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.552 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 18.552 * [backup-simplify]: Simplify (+ 0) into 0 18.553 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.553 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.554 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.554 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.555 * [backup-simplify]: Simplify (+ 0 0) into 0 18.555 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.555 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0 18.556 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 4) 0) (* 0 (pow (sin (/ 0.5 phi2)) 4))) into 0 18.556 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.557 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.558 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 18.558 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) (/ 0 R)))) into 0 18.563 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.564 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.564 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.565 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.566 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.566 * [backup-simplify]: Simplify (+ 0 0) into 0 18.567 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.567 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.568 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.569 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.570 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.571 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.571 * [backup-simplify]: Simplify (+ 0 0) into 0 18.572 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.573 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0 18.574 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 4)))) into 0 18.575 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.575 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.576 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0 18.577 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 18.580 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 18.582 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.584 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 18.588 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into 0 18.590 * [backup-simplify]: Simplify (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 18.592 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 18.594 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.595 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.595 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.596 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.596 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.597 * [backup-simplify]: Simplify (+ 0 0) into 0 18.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.598 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.599 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.600 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.601 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.601 * [backup-simplify]: Simplify (+ 0 0) into 0 18.602 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.603 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.604 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.604 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.605 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.605 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.606 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.606 * [backup-simplify]: Simplify (- 0) into 0 18.607 * [backup-simplify]: Simplify (+ 0 0) into 0 18.607 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.608 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.609 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.609 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.610 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.611 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.611 * [backup-simplify]: Simplify (- 0) into 0 18.611 * [backup-simplify]: Simplify (+ 0 0) into 0 18.612 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 18.613 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.613 * [backup-simplify]: Simplify (+ 0 0) into 0 18.614 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.615 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.615 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.616 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.617 * [backup-simplify]: Simplify (- 0) into 0 18.617 * [backup-simplify]: Simplify (+ 0 0) into 0 18.618 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.619 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.619 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.620 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.621 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.621 * [backup-simplify]: Simplify (+ 0 0) into 0 18.622 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.623 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.623 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.624 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.624 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.625 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.625 * [backup-simplify]: Simplify (+ 0 0) into 0 18.626 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.627 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.628 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.629 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.630 * [backup-simplify]: Simplify (- 0) into 0 18.630 * [backup-simplify]: Simplify (+ 0 0) into 0 18.631 * [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 18.632 * [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 18.633 * [backup-simplify]: Simplify (- 0) into 0 18.633 * [backup-simplify]: Simplify (+ 0 0) into 0 18.637 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 18.641 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 18.645 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)))) into 0 18.650 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.652 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.653 * [backup-simplify]: Simplify (+ 0) into 0 18.654 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.654 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.655 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.656 * [backup-simplify]: Simplify (- 0) into 0 18.656 * [backup-simplify]: Simplify (+ 0 0) into 0 18.656 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.657 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 18.657 * [backup-simplify]: Simplify (+ 0) into 0 18.658 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.658 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.659 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.660 * [backup-simplify]: Simplify (+ 0 0) into 0 18.660 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.660 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 18.661 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (pow (cos (/ 0.5 phi2)) 3))) into 0 18.661 * [backup-simplify]: Simplify (+ 0) into 0 18.662 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.662 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.664 * [backup-simplify]: Simplify (- 0) into 0 18.665 * [backup-simplify]: Simplify (+ 0 0) into 0 18.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 18.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0 18.666 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) into 0 18.666 * [backup-simplify]: Simplify (+ 0) into 0 18.667 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.667 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.668 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.669 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.669 * [backup-simplify]: Simplify (+ 0 0) into 0 18.669 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.670 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0 18.671 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3))))) into 0 18.671 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.672 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.673 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 18.674 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) R) (/ 0 R)))) into 0 18.675 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.676 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.676 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.677 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.677 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.678 * [backup-simplify]: Simplify (- 0) into 0 18.678 * [backup-simplify]: Simplify (+ 0 0) into 0 18.679 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.679 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.680 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.681 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.681 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.682 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.682 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.682 * [backup-simplify]: Simplify (+ 0 0) into 0 18.683 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.683 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.683 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 3)))) into 0 18.684 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.685 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.685 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.686 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.686 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.686 * [backup-simplify]: Simplify (- 0) into 0 18.686 * [backup-simplify]: Simplify (+ 0 0) into 0 18.687 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 18.687 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0 18.688 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3))))) into 0 18.688 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.689 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.689 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.689 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.690 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.690 * [backup-simplify]: Simplify (+ 0 0) into 0 18.690 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.691 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0 18.692 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))))) into 0 18.692 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.693 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.693 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 18.694 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 18.695 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))) into 0 18.697 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 18.698 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) 18.701 * [backup-simplify]: Simplify (+ (* 10 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (pow (cos (/ 0.5 phi2)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))) into 0 18.702 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 18.704 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 18.704 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.705 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.705 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.706 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.706 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.706 * [backup-simplify]: Simplify (+ 0 0) into 0 18.707 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.707 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.708 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.708 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.709 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.710 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.711 * [backup-simplify]: Simplify (+ 0 0) into 0 18.711 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.715 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.716 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.716 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.716 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.717 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.717 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.717 * [backup-simplify]: Simplify (- 0) into 0 18.718 * [backup-simplify]: Simplify (+ 0 0) into 0 18.718 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.719 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.719 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.719 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.720 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.720 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.720 * [backup-simplify]: Simplify (- 0) into 0 18.721 * [backup-simplify]: Simplify (+ 0 0) into 0 18.721 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 18.721 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.722 * [backup-simplify]: Simplify (+ 0 0) into 0 18.722 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.723 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.723 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.724 * [backup-simplify]: Simplify (- 0) into 0 18.724 * [backup-simplify]: Simplify (+ 0 0) into 0 18.725 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.725 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.725 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.726 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.726 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.726 * [backup-simplify]: Simplify (+ 0 0) into 0 18.727 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.727 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.728 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.728 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.729 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.729 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.730 * [backup-simplify]: Simplify (+ 0 0) into 0 18.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.731 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.732 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.732 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.733 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.733 * [backup-simplify]: Simplify (- 0) into 0 18.733 * [backup-simplify]: Simplify (+ 0 0) into 0 18.734 * [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 18.735 * [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 18.735 * [backup-simplify]: Simplify (- 0) into 0 18.735 * [backup-simplify]: Simplify (+ 0 0) into 0 18.737 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 18.739 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 18.742 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.744 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.744 * [backup-simplify]: Simplify (+ 0) into 0 18.744 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.745 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.745 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.745 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.746 * [backup-simplify]: Simplify (- 0) into 0 18.746 * [backup-simplify]: Simplify (+ 0 0) into 0 18.746 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.746 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 18.747 * [backup-simplify]: Simplify (+ 0) into 0 18.747 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.747 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.748 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.748 * [backup-simplify]: Simplify (- 0) into 0 18.748 * [backup-simplify]: Simplify (+ 0 0) into 0 18.748 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 18.749 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0 18.749 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 4) 0) (* 0 (pow (cos (/ 0.5 phi2)) 4))) into 0 18.749 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.750 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.750 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 18.750 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) (/ 0 R)))) into 0 18.751 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.751 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.752 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.752 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.752 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.753 * [backup-simplify]: Simplify (- 0) into 0 18.753 * [backup-simplify]: Simplify (+ 0 0) into 0 18.753 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.754 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.754 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.755 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.756 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.756 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.756 * [backup-simplify]: Simplify (- 0) into 0 18.756 * [backup-simplify]: Simplify (+ 0 0) into 0 18.757 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 18.758 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0 18.758 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 4)))) into 0 18.759 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.759 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.760 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0 18.760 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 18.762 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 18.763 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.764 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 18.767 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into 0 18.770 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 18.772 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 18.773 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.774 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.774 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.775 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.775 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.776 * [backup-simplify]: Simplify (+ 0 0) into 0 18.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.777 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.778 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.778 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.778 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.779 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.779 * [backup-simplify]: Simplify (+ 0 0) into 0 18.780 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.781 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.782 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.782 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.782 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.783 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.784 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.784 * [backup-simplify]: Simplify (- 0) into 0 18.784 * [backup-simplify]: Simplify (+ 0 0) into 0 18.785 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.786 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.787 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.787 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.788 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.789 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.789 * [backup-simplify]: Simplify (- 0) into 0 18.789 * [backup-simplify]: Simplify (+ 0 0) into 0 18.790 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 18.791 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.791 * [backup-simplify]: Simplify (+ 0 0) into 0 18.792 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.793 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.793 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.794 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.794 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.794 * [backup-simplify]: Simplify (- 0) into 0 18.795 * [backup-simplify]: Simplify (+ 0 0) into 0 18.796 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.796 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.797 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.797 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.798 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.798 * [backup-simplify]: Simplify (+ 0 0) into 0 18.799 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.800 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.800 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.801 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.801 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.802 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.802 * [backup-simplify]: Simplify (+ 0 0) into 0 18.803 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 18.804 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.805 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.805 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.806 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.806 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.807 * [backup-simplify]: Simplify (- 0) into 0 18.807 * [backup-simplify]: Simplify (+ 0 0) into 0 18.808 * [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 18.809 * [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 18.810 * [backup-simplify]: Simplify (- 0) into 0 18.810 * [backup-simplify]: Simplify (+ 0 0) into 0 18.814 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 18.817 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 18.822 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.825 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.825 * [backup-simplify]: Simplify (+ 0) into 0 18.826 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.826 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.827 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.827 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.828 * [backup-simplify]: Simplify (- 0) into 0 18.828 * [backup-simplify]: Simplify (+ 0 0) into 0 18.828 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 18.829 * [backup-simplify]: Simplify (+ 0) into 0 18.829 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 18.829 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 18.830 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.831 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 18.831 * [backup-simplify]: Simplify (+ 0 0) into 0 18.831 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 18.832 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 18.832 * [backup-simplify]: Simplify (+ 0) into 0 18.832 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.833 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.834 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.834 * [backup-simplify]: Simplify (- 0) into 0 18.835 * [backup-simplify]: Simplify (+ 0 0) into 0 18.835 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 18.835 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.836 * [backup-simplify]: Simplify (+ 0) into 0 18.836 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 18.836 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 18.837 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 18.838 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 18.838 * [backup-simplify]: Simplify (+ 0 0) into 0 18.838 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 18.839 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2))))) into 0 18.840 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.840 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 18.841 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 18.842 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) (/ 0 R)))) into 0 18.847 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.848 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.848 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.849 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.850 * [backup-simplify]: Simplify (- 0) into 0 18.850 * [backup-simplify]: Simplify (+ 0 0) into 0 18.851 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.851 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.852 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.852 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.853 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.854 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.854 * [backup-simplify]: Simplify (+ 0 0) into 0 18.855 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.855 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.856 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.857 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.857 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.858 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.858 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.859 * [backup-simplify]: Simplify (- 0) into 0 18.859 * [backup-simplify]: Simplify (+ 0 0) into 0 18.860 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 18.861 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2))))) into 0 18.862 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.862 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.862 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.863 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.864 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.864 * [backup-simplify]: Simplify (+ 0 0) into 0 18.865 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.866 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))))) into 0 18.867 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.868 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 18.868 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 18.869 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 18.872 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 18.875 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 18.877 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 18.881 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into 0 18.883 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 0) into (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 18.886 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 18.891 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) 18.897 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) 18.905 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) 18.915 * [backup-simplify]: Simplify (+ 0 (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) 18.924 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) 18.936 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) 18.950 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))) into (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) 18.966 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))) into (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))) 18.967 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.968 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.969 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.969 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.970 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.970 * [backup-simplify]: Simplify (+ 0 0) into 0 18.971 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 18.972 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.973 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.973 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.974 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.974 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.974 * [backup-simplify]: Simplify (+ 0 0) into 0 18.975 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 18.976 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 18.977 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.977 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.978 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.978 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.979 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.980 * [backup-simplify]: Simplify (- 0) into 0 18.980 * [backup-simplify]: Simplify (+ 0 0) into 0 18.981 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.982 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.983 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 18.983 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 18.984 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.984 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 18.985 * [backup-simplify]: Simplify (- 0) into 0 18.985 * [backup-simplify]: Simplify (+ 0 0) into 0 18.986 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 18.986 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 18.987 * [backup-simplify]: Simplify (+ 0 0) into 0 18.988 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.988 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.988 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.989 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.990 * [backup-simplify]: Simplify (- 0) into 0 18.990 * [backup-simplify]: Simplify (+ 0 0) into 0 18.991 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 18.992 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 18.992 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 18.993 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 18.993 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 18.994 * [backup-simplify]: Simplify (+ 0 0) into 0 18.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 18.995 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.001 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.002 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.002 * [backup-simplify]: Simplify (+ 0 0) into 0 19.003 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.003 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.004 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.004 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.005 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.006 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.006 * [backup-simplify]: Simplify (- 0) into 0 19.006 * [backup-simplify]: Simplify (+ 0 0) into 0 19.008 * [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 19.009 * [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 19.009 * [backup-simplify]: Simplify (- 0) into 0 19.009 * [backup-simplify]: Simplify (+ 0 0) into 0 19.011 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 19.014 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 19.016 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)))) into 0 19.019 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.021 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.021 * [backup-simplify]: Simplify (+ 0) into 0 19.022 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 19.022 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 19.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.023 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 19.023 * [backup-simplify]: Simplify (+ 0 0) into 0 19.023 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.024 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.024 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (pow (sin (/ 0.5 phi2)) 3))) into 0 19.024 * [backup-simplify]: Simplify (+ 0) into 0 19.025 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.025 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.025 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.026 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.026 * [backup-simplify]: Simplify (+ 0 0) into 0 19.026 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.026 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0 19.026 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (* 0 (pow (sin (/ 0.5 phi1)) 3))) into 0 19.027 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 6) 0) (* 0 (pow (sin (/ 0.5 phi2)) 6))) into 0 19.027 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.028 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.028 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 19.028 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) R) (/ 0 R)))) into 0 19.029 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.029 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.029 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.030 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.030 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.031 * [backup-simplify]: Simplify (+ 0 0) into 0 19.031 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 19.031 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 19.032 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 3)))) into 0 19.033 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.033 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.033 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.034 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.034 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.034 * [backup-simplify]: Simplify (+ 0 0) into 0 19.035 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 19.035 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0 19.036 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 3)))) into 0 19.036 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 6) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 6)))) into 0 19.037 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.037 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.038 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0 19.038 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 19.040 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))) into 0 19.041 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.042 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) 19.044 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi1)) 6) (pow (sin (/ 0.5 phi2)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))) into 0 19.045 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 19.047 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 19.048 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.048 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.049 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.049 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.049 * [backup-simplify]: Simplify (+ 0 0) into 0 19.050 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 19.050 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.051 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.052 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.052 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.052 * [backup-simplify]: Simplify (+ 0 0) into 0 19.053 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 19.053 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 19.054 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.054 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.054 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.055 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.055 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.056 * [backup-simplify]: Simplify (- 0) into 0 19.056 * [backup-simplify]: Simplify (+ 0 0) into 0 19.056 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.057 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.057 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.057 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.058 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.058 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.059 * [backup-simplify]: Simplify (- 0) into 0 19.059 * [backup-simplify]: Simplify (+ 0 0) into 0 19.059 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 19.060 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 19.060 * [backup-simplify]: Simplify (+ 0 0) into 0 19.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.061 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.061 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.062 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.062 * [backup-simplify]: Simplify (- 0) into 0 19.063 * [backup-simplify]: Simplify (+ 0 0) into 0 19.063 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.064 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.064 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.065 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.065 * [backup-simplify]: Simplify (+ 0 0) into 0 19.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.067 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.068 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.069 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.069 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.070 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.070 * [backup-simplify]: Simplify (+ 0 0) into 0 19.071 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.072 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.073 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.073 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.074 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.074 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.075 * [backup-simplify]: Simplify (- 0) into 0 19.075 * [backup-simplify]: Simplify (+ 0 0) into 0 19.076 * [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 19.077 * [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 19.078 * [backup-simplify]: Simplify (- 0) into 0 19.078 * [backup-simplify]: Simplify (+ 0 0) into 0 19.081 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 19.083 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 19.086 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.088 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.088 * [backup-simplify]: Simplify (+ 0) into 0 19.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 19.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 19.089 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 19.090 * [backup-simplify]: Simplify (- 0) into 0 19.090 * [backup-simplify]: Simplify (+ 0 0) into 0 19.090 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.090 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.091 * [backup-simplify]: Simplify (+ 0) into 0 19.091 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 19.091 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 19.092 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.092 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 19.092 * [backup-simplify]: Simplify (+ 0 0) into 0 19.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 3))) into 0 19.093 * [backup-simplify]: Simplify (+ 0) into 0 19.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.093 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.094 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.094 * [backup-simplify]: Simplify (- 0) into 0 19.094 * [backup-simplify]: Simplify (+ 0 0) into 0 19.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.095 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0 19.095 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) into 0 19.095 * [backup-simplify]: Simplify (+ 0) into 0 19.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.096 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.096 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.097 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.097 * [backup-simplify]: Simplify (+ 0 0) into 0 19.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3))))) into 0 19.098 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.098 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.098 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 19.099 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) (/ 0 R)))) into 0 19.099 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.100 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.101 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.101 * [backup-simplify]: Simplify (- 0) into 0 19.101 * [backup-simplify]: Simplify (+ 0 0) into 0 19.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 19.103 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.103 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.104 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.104 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.105 * [backup-simplify]: Simplify (+ 0 0) into 0 19.105 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 3)))) into 0 19.106 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.106 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.107 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.107 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.107 * [backup-simplify]: Simplify (- 0) into 0 19.108 * [backup-simplify]: Simplify (+ 0 0) into 0 19.108 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 19.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0 19.109 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3))))) into 0 19.110 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.110 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.115 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.116 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.116 * [backup-simplify]: Simplify (+ 0 0) into 0 19.117 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))))) into 0 19.119 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.120 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.120 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 19.121 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 19.125 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 19.127 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.129 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 19.132 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into 0 19.133 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.134 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.134 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.135 * [backup-simplify]: Simplify (+ 0 0) into 0 19.135 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 19.136 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.137 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.137 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.137 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.138 * [backup-simplify]: Simplify (+ 0 0) into 0 19.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 19.139 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 19.139 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.140 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.140 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.140 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.141 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.141 * [backup-simplify]: Simplify (- 0) into 0 19.141 * [backup-simplify]: Simplify (+ 0 0) into 0 19.142 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.142 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.143 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.144 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.144 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.145 * [backup-simplify]: Simplify (- 0) into 0 19.145 * [backup-simplify]: Simplify (+ 0 0) into 0 19.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 19.146 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 19.147 * [backup-simplify]: Simplify (+ 0 0) into 0 19.147 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.148 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.148 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.149 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.149 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.149 * [backup-simplify]: Simplify (- 0) into 0 19.150 * [backup-simplify]: Simplify (+ 0 0) into 0 19.150 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.151 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.151 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.151 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.152 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.152 * [backup-simplify]: Simplify (+ 0 0) into 0 19.152 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.153 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.153 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.154 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.154 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.155 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.155 * [backup-simplify]: Simplify (+ 0 0) into 0 19.155 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.156 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.156 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.156 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.157 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.157 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.157 * [backup-simplify]: Simplify (- 0) into 0 19.158 * [backup-simplify]: Simplify (+ 0 0) into 0 19.158 * [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 19.159 * [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 19.159 * [backup-simplify]: Simplify (- 0) into 0 19.159 * [backup-simplify]: Simplify (+ 0 0) into 0 19.161 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 19.163 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 19.166 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.168 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.169 * [backup-simplify]: Simplify (+ 0) into 0 19.170 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 19.170 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 19.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 19.172 * [backup-simplify]: Simplify (- 0) into 0 19.172 * [backup-simplify]: Simplify (+ 0 0) into 0 19.172 * [backup-simplify]: Simplify (+ 0) into 0 19.173 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 19.173 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 19.174 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 19.175 * [backup-simplify]: Simplify (+ 0 0) into 0 19.175 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.176 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.176 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.176 * [backup-simplify]: Simplify (+ 0) into 0 19.177 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.177 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.179 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.179 * [backup-simplify]: Simplify (- 0) into 0 19.180 * [backup-simplify]: Simplify (+ 0 0) into 0 19.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) into 0 19.180 * [backup-simplify]: Simplify (+ 0) into 0 19.181 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.181 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.183 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.183 * [backup-simplify]: Simplify (+ 0 0) into 0 19.183 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0 19.184 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2)))))) into 0 19.185 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.186 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.186 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 19.187 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) (/ 0 R)))) into 0 19.188 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.189 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.189 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.190 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.191 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.192 * [backup-simplify]: Simplify (- 0) into 0 19.192 * [backup-simplify]: Simplify (+ 0 0) into 0 19.193 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.194 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.194 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.195 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.196 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.196 * [backup-simplify]: Simplify (+ 0 0) into 0 19.197 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 19.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 19.199 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.200 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.201 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.202 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.203 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.203 * [backup-simplify]: Simplify (- 0) into 0 19.204 * [backup-simplify]: Simplify (+ 0 0) into 0 19.204 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2)))))) into 0 19.205 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.206 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.206 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.207 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.208 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.208 * [backup-simplify]: Simplify (+ 0 0) into 0 19.209 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 19.210 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0 19.211 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))))) into 0 19.212 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.213 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.213 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 19.214 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 19.217 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 19.220 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.222 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 19.227 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into 0 19.229 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 19.231 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.232 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.232 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.233 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.234 * [backup-simplify]: Simplify (+ 0 0) into 0 19.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 19.235 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.236 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.237 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.238 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.238 * [backup-simplify]: Simplify (+ 0 0) into 0 19.239 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 19.240 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 19.241 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.242 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.242 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.243 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.244 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.244 * [backup-simplify]: Simplify (- 0) into 0 19.245 * [backup-simplify]: Simplify (+ 0 0) into 0 19.245 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.246 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.247 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.247 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.248 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.249 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.249 * [backup-simplify]: Simplify (- 0) into 0 19.250 * [backup-simplify]: Simplify (+ 0 0) into 0 19.250 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 19.251 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 19.251 * [backup-simplify]: Simplify (+ 0 0) into 0 19.252 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.254 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.255 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.255 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.256 * [backup-simplify]: Simplify (- 0) into 0 19.256 * [backup-simplify]: Simplify (+ 0 0) into 0 19.257 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.258 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.259 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.259 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.260 * [backup-simplify]: Simplify (+ 0 0) into 0 19.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.262 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.262 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.263 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.268 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.269 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.269 * [backup-simplify]: Simplify (+ 0 0) into 0 19.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.271 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.272 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.272 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.273 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.273 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.274 * [backup-simplify]: Simplify (- 0) into 0 19.274 * [backup-simplify]: Simplify (+ 0 0) into 0 19.275 * [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 19.277 * [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 19.277 * [backup-simplify]: Simplify (- 0) into 0 19.277 * [backup-simplify]: Simplify (+ 0 0) into 0 19.281 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 19.285 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 19.289 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)))) into 0 19.293 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.295 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.295 * [backup-simplify]: Simplify (+ 0) into 0 19.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 19.296 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 19.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.296 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 19.297 * [backup-simplify]: Simplify (- 0) into 0 19.297 * [backup-simplify]: Simplify (+ 0 0) into 0 19.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.298 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (* 0 (pow (cos (/ 0.5 phi2)) 3))) into 0 19.298 * [backup-simplify]: Simplify (+ 0) into 0 19.298 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.298 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.299 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.299 * [backup-simplify]: Simplify (- 0) into 0 19.300 * [backup-simplify]: Simplify (+ 0 0) into 0 19.300 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.300 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0 19.300 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (pow (cos (/ 0.5 phi1)) 3))) into 0 19.300 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 6) 0) (* 0 (pow (cos (/ 0.5 phi2)) 6))) into 0 19.301 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.301 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.301 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 19.302 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) R) (/ 0 R)))) into 0 19.302 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.303 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.303 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.303 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.304 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.304 * [backup-simplify]: Simplify (- 0) into 0 19.304 * [backup-simplify]: Simplify (+ 0 0) into 0 19.305 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.305 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 19.306 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 3)))) into 0 19.306 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.307 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.307 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.307 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.308 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.308 * [backup-simplify]: Simplify (- 0) into 0 19.308 * [backup-simplify]: Simplify (+ 0 0) into 0 19.309 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 19.309 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0 19.310 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 3)))) into 0 19.310 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 6) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 6)))) into 0 19.311 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.311 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.312 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0 19.312 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 19.314 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))) into 0 19.315 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.316 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) 19.318 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 6) (pow (cos (/ 0.5 phi2)) 6)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))) into 0 19.319 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.319 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.320 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.320 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.321 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.321 * [backup-simplify]: Simplify (+ 0 0) into 0 19.321 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 19.322 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.322 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.323 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.323 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.323 * [backup-simplify]: Simplify (+ 0 0) into 0 19.324 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 19.324 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 19.325 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.325 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.326 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.326 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.327 * [backup-simplify]: Simplify (- 0) into 0 19.327 * [backup-simplify]: Simplify (+ 0 0) into 0 19.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.328 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.329 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.329 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.330 * [backup-simplify]: Simplify (- 0) into 0 19.330 * [backup-simplify]: Simplify (+ 0 0) into 0 19.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 19.331 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 19.331 * [backup-simplify]: Simplify (+ 0 0) into 0 19.332 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.332 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.333 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.334 * [backup-simplify]: Simplify (- 0) into 0 19.334 * [backup-simplify]: Simplify (+ 0 0) into 0 19.334 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.335 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.335 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.336 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.336 * [backup-simplify]: Simplify (+ 0 0) into 0 19.336 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.337 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.338 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.338 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.339 * [backup-simplify]: Simplify (+ 0 0) into 0 19.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.340 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.340 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.341 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.341 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.341 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.342 * [backup-simplify]: Simplify (- 0) into 0 19.342 * [backup-simplify]: Simplify (+ 0 0) into 0 19.342 * [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 19.343 * [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 19.343 * [backup-simplify]: Simplify (- 0) into 0 19.344 * [backup-simplify]: Simplify (+ 0 0) into 0 19.347 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 19.351 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 19.354 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)))) into 0 19.359 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.363 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.363 * [backup-simplify]: Simplify (+ 0) into 0 19.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 19.364 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 19.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.366 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 19.366 * [backup-simplify]: Simplify (- 0) into 0 19.366 * [backup-simplify]: Simplify (+ 0 0) into 0 19.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.367 * [backup-simplify]: Simplify (+ 0) into 0 19.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 19.368 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 19.369 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 19.370 * [backup-simplify]: Simplify (+ 0 0) into 0 19.370 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.370 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.371 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.371 * [backup-simplify]: Simplify (+ 0) into 0 19.372 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.372 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.373 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.374 * [backup-simplify]: Simplify (- 0) into 0 19.374 * [backup-simplify]: Simplify (+ 0 0) into 0 19.374 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.375 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) into 0 19.375 * [backup-simplify]: Simplify (+ 0) into 0 19.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.376 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.377 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.377 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.378 * [backup-simplify]: Simplify (+ 0 0) into 0 19.378 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.379 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0 19.380 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 4) 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2))))) into 0 19.381 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.382 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.382 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 19.383 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) R) (/ 0 R)))) into 0 19.385 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.386 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.386 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.387 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.388 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.388 * [backup-simplify]: Simplify (- 0) into 0 19.389 * [backup-simplify]: Simplify (+ 0 0) into 0 19.390 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.391 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.392 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.392 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.393 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.394 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.394 * [backup-simplify]: Simplify (+ 0 0) into 0 19.395 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 19.396 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 19.396 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 19.397 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.398 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.398 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.399 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.400 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.400 * [backup-simplify]: Simplify (- 0) into 0 19.400 * [backup-simplify]: Simplify (+ 0 0) into 0 19.401 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 19.401 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2))))) into 0 19.402 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.405 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.406 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.406 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.407 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.407 * [backup-simplify]: Simplify (+ 0 0) into 0 19.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 19.408 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0 19.409 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))))) into 0 19.409 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.410 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.410 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 19.411 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 19.413 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))) into 0 19.414 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.416 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) 19.418 * [backup-simplify]: Simplify (+ (* 15/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 4) (pow (cos (/ 0.5 phi2)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))) into 0 19.419 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 19.420 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.421 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.421 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.422 * [backup-simplify]: Simplify (+ 0 0) into 0 19.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 19.423 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.423 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.423 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.424 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.424 * [backup-simplify]: Simplify (+ 0 0) into 0 19.425 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 19.425 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 19.426 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.426 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.427 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.427 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.427 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.428 * [backup-simplify]: Simplify (- 0) into 0 19.428 * [backup-simplify]: Simplify (+ 0 0) into 0 19.429 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.430 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.430 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.431 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.432 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.432 * [backup-simplify]: Simplify (- 0) into 0 19.433 * [backup-simplify]: Simplify (+ 0 0) into 0 19.433 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 19.434 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 19.434 * [backup-simplify]: Simplify (+ 0 0) into 0 19.435 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.436 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.436 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.437 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.438 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.438 * [backup-simplify]: Simplify (- 0) into 0 19.439 * [backup-simplify]: Simplify (+ 0 0) into 0 19.439 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.440 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.441 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.442 * [backup-simplify]: Simplify (+ 0 0) into 0 19.443 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.444 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.444 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.445 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.445 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.446 * [backup-simplify]: Simplify (+ 0 0) into 0 19.446 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.447 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.447 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.447 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.448 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.448 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.448 * [backup-simplify]: Simplify (- 0) into 0 19.448 * [backup-simplify]: Simplify (+ 0 0) into 0 19.449 * [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 19.450 * [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 19.450 * [backup-simplify]: Simplify (- 0) into 0 19.451 * [backup-simplify]: Simplify (+ 0 0) into 0 19.453 * [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))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 19.455 * [backup-simplify]: Simplify (+ (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 19.457 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 4)))) into 0 19.460 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.461 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.461 * [backup-simplify]: Simplify (+ 0) into 0 19.462 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 19.462 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 19.462 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.463 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 19.463 * [backup-simplify]: Simplify (- 0) into 0 19.463 * [backup-simplify]: Simplify (+ 0 0) into 0 19.463 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.464 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.464 * [backup-simplify]: Simplify (+ 0) into 0 19.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 19.464 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 19.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.465 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 19.465 * [backup-simplify]: Simplify (+ 0 0) into 0 19.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.466 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 4))) into 0 19.466 * [backup-simplify]: Simplify (+ 0) into 0 19.466 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.467 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.467 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.468 * [backup-simplify]: Simplify (- 0) into 0 19.468 * [backup-simplify]: Simplify (+ 0 0) into 0 19.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.468 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0 19.469 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 4) 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) into 0 19.469 * [backup-simplify]: Simplify (+ 0) into 0 19.469 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.469 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.470 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.470 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.471 * [backup-simplify]: Simplify (+ 0 0) into 0 19.471 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.471 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4))))) into 0 19.471 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.472 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 19.472 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 19.473 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) R) (/ 0 R)))) into 0 19.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.475 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.476 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.477 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.478 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.478 * [backup-simplify]: Simplify (- 0) into 0 19.478 * [backup-simplify]: Simplify (+ 0 0) into 0 19.479 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 19.480 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 19.481 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.482 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 19.482 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 19.483 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.483 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 19.484 * [backup-simplify]: Simplify (+ 0 0) into 0 19.485 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 19.485 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 4)))) into 0 19.486 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.487 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.487 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.488 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.489 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.489 * [backup-simplify]: Simplify (- 0) into 0 19.490 * [backup-simplify]: Simplify (+ 0 0) into 0 19.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 19.491 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0 19.492 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4))))) into 0 19.493 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 19.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 19.494 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 19.495 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 19.496 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 19.496 * [backup-simplify]: Simplify (+ 0 0) into 0 19.497 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 19.498 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))))) into 0 19.499 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.500 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 19.501 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 19.502 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 19.505 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))))) into 0 19.508 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))) into 0 19.510 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5)))) 19.514 * [backup-simplify]: Simplify (+ (* 15/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 4)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 5))))))) into 0 19.517 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 0) into (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 19.519 * [backup-simplify]: Simplify (+ 0 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 19.522 * [backup-simplify]: Simplify (+ 0 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 19.526 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 19.529 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 19.532 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 19.540 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) 19.546 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) 19.553 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) into (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) 19.560 * [backup-simplify]: Simplify (- (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) into (- (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) 19.578 * [backup-simplify]: Simplify (+ (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))) (- (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 (* R phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))) into (- (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) 19.579 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) in phi2 19.579 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))))) in phi2 19.579 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in phi2 19.579 * [taylor]: Taking taylor expansion of 1/2 in phi2 19.579 * [backup-simplify]: Simplify 1/2 into 1/2 19.579 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi2 19.579 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi2 2) R)) in phi2 19.579 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.579 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.579 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.579 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.579 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.579 * [backup-simplify]: Simplify 0.5 into 0.5 19.579 * [taylor]: Taking taylor expansion of phi1 in phi2 19.579 * [backup-simplify]: Simplify phi1 into phi1 19.579 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.579 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.580 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.580 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.580 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.580 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.580 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.580 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.580 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.580 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.580 * [backup-simplify]: Simplify 0.5 into 0.5 19.580 * [taylor]: Taking taylor expansion of phi2 in phi2 19.580 * [backup-simplify]: Simplify 0 into 0 19.580 * [backup-simplify]: Simplify 1 into 1 19.581 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.581 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.581 * [taylor]: Taking taylor expansion of (* (pow phi2 2) R) in phi2 19.581 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 19.581 * [taylor]: Taking taylor expansion of phi2 in phi2 19.581 * [backup-simplify]: Simplify 0 into 0 19.581 * [backup-simplify]: Simplify 1 into 1 19.581 * [taylor]: Taking taylor expansion of R in phi2 19.581 * [backup-simplify]: Simplify R into R 19.581 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.581 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.581 * [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)) 19.582 * [backup-simplify]: Simplify (* 1 1) into 1 19.582 * [backup-simplify]: Simplify (* 1 R) into R 19.582 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 19.582 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi2 19.582 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi2 19.582 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi2 19.582 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 19.582 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 19.582 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.582 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.582 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.582 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.582 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.582 * [backup-simplify]: Simplify 0.5 into 0.5 19.582 * [taylor]: Taking taylor expansion of phi1 in phi2 19.582 * [backup-simplify]: Simplify phi1 into phi1 19.582 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.582 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.582 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.582 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.582 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.582 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.583 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.583 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.583 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.583 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.583 * [backup-simplify]: Simplify 0.5 into 0.5 19.583 * [taylor]: Taking taylor expansion of phi2 in phi2 19.583 * [backup-simplify]: Simplify 0 into 0 19.583 * [backup-simplify]: Simplify 1 into 1 19.583 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.583 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.583 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.583 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.583 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.583 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.583 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.583 * [backup-simplify]: Simplify 0.5 into 0.5 19.583 * [taylor]: Taking taylor expansion of phi1 in phi2 19.583 * [backup-simplify]: Simplify phi1 into phi1 19.583 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.583 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.583 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.583 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.584 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.584 * [backup-simplify]: Simplify (- 0) into 0 19.584 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.584 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.584 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.584 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.584 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.584 * [backup-simplify]: Simplify 0.5 into 0.5 19.584 * [taylor]: Taking taylor expansion of phi2 in phi2 19.584 * [backup-simplify]: Simplify 0 into 0 19.584 * [backup-simplify]: Simplify 1 into 1 19.584 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.584 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.584 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 19.585 * [taylor]: Taking taylor expansion of 2 in phi2 19.585 * [backup-simplify]: Simplify 2 into 2 19.585 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.585 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.585 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.585 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.585 * [backup-simplify]: Simplify 0.5 into 0.5 19.585 * [taylor]: Taking taylor expansion of phi1 in phi2 19.585 * [backup-simplify]: Simplify phi1 into phi1 19.585 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.585 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.585 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.585 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.585 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.585 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.585 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.585 * [backup-simplify]: Simplify 0.5 into 0.5 19.585 * [taylor]: Taking taylor expansion of phi1 in phi2 19.585 * [backup-simplify]: Simplify phi1 into phi1 19.585 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.585 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.585 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.585 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.585 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.585 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.585 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.585 * [backup-simplify]: Simplify 0.5 into 0.5 19.585 * [taylor]: Taking taylor expansion of phi2 in phi2 19.585 * [backup-simplify]: Simplify 0 into 0 19.585 * [backup-simplify]: Simplify 1 into 1 19.586 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.586 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.586 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.586 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.586 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.586 * [backup-simplify]: Simplify 0.5 into 0.5 19.586 * [taylor]: Taking taylor expansion of phi2 in phi2 19.586 * [backup-simplify]: Simplify 0 into 0 19.586 * [backup-simplify]: Simplify 1 into 1 19.587 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.587 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.587 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.587 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.587 * [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)) 19.588 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.588 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.588 * [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)) 19.588 * [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))) 19.588 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.589 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.589 * [backup-simplify]: Simplify (- 0) into 0 19.589 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.589 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.589 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.589 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.589 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.589 * [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)))) 19.590 * [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))))) 19.590 * [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)))))) 19.590 * [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))))))) 19.591 * [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))))))) 19.593 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 19.594 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 19.595 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 19.596 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 19.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.597 * [backup-simplify]: Simplify (+ 0) into 0 19.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.597 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.598 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.598 * [backup-simplify]: Simplify (+ 0 0) into 0 19.598 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.599 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.599 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.599 * [backup-simplify]: Simplify (+ 0) into 0 19.599 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.599 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.600 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.600 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.600 * [backup-simplify]: Simplify (- 0) into 0 19.601 * [backup-simplify]: Simplify (+ 0 0) into 0 19.601 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.601 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.601 * [backup-simplify]: Simplify (+ 0 0) into 0 19.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.602 * [backup-simplify]: Simplify (+ 0) into 0 19.602 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.602 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.603 * [backup-simplify]: Simplify (+ 0 0) into 0 19.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 19.604 * [backup-simplify]: Simplify (+ 0) into 0 19.604 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.604 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.605 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.605 * [backup-simplify]: Simplify (- 0) into 0 19.605 * [backup-simplify]: Simplify (+ 0 0) into 0 19.605 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.606 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 19.606 * [backup-simplify]: Simplify (- 0) into 0 19.606 * [backup-simplify]: Simplify (+ 0 0) into 0 19.608 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 19.610 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 19.612 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.613 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.613 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))))) in phi2 19.613 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in phi2 19.613 * [taylor]: Taking taylor expansion of 2 in phi2 19.613 * [backup-simplify]: Simplify 2 into 2 19.613 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi2 19.614 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi2 (* R phi1))) in phi2 19.614 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.614 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.614 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.614 * [backup-simplify]: Simplify 0.5 into 0.5 19.614 * [taylor]: Taking taylor expansion of phi1 in phi2 19.614 * [backup-simplify]: Simplify phi1 into phi1 19.614 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.614 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.614 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.614 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.614 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.614 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.614 * [backup-simplify]: Simplify 0.5 into 0.5 19.614 * [taylor]: Taking taylor expansion of phi1 in phi2 19.614 * [backup-simplify]: Simplify phi1 into phi1 19.614 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.614 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.614 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.614 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.614 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.614 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.614 * [backup-simplify]: Simplify 0.5 into 0.5 19.614 * [taylor]: Taking taylor expansion of phi2 in phi2 19.614 * [backup-simplify]: Simplify 0 into 0 19.614 * [backup-simplify]: Simplify 1 into 1 19.615 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.615 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.615 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.615 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.615 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.615 * [backup-simplify]: Simplify 0.5 into 0.5 19.615 * [taylor]: Taking taylor expansion of phi2 in phi2 19.615 * [backup-simplify]: Simplify 0 into 0 19.615 * [backup-simplify]: Simplify 1 into 1 19.615 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.615 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.615 * [taylor]: Taking taylor expansion of (* phi2 (* R phi1)) in phi2 19.615 * [taylor]: Taking taylor expansion of phi2 in phi2 19.615 * [backup-simplify]: Simplify 0 into 0 19.615 * [backup-simplify]: Simplify 1 into 1 19.615 * [taylor]: Taking taylor expansion of (* R phi1) in phi2 19.615 * [taylor]: Taking taylor expansion of R in phi2 19.616 * [backup-simplify]: Simplify R into R 19.616 * [taylor]: Taking taylor expansion of phi1 in phi2 19.616 * [backup-simplify]: Simplify phi1 into phi1 19.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.616 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.616 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.616 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.616 * [backup-simplify]: Simplify (- 0) into 0 19.616 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.616 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.617 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 19.617 * [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))))) 19.617 * [backup-simplify]: Simplify (* R phi1) into (* phi1 R) 19.617 * [backup-simplify]: Simplify (* 0 (* phi1 R)) into 0 19.617 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi1)) into 0 19.617 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 R))) into (* R phi1) 19.617 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R phi1)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R phi1)) 19.617 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi2 19.618 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi2 19.618 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi2 19.618 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 19.618 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 19.618 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.618 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.618 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.618 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.618 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.618 * [backup-simplify]: Simplify 0.5 into 0.5 19.618 * [taylor]: Taking taylor expansion of phi1 in phi2 19.618 * [backup-simplify]: Simplify phi1 into phi1 19.618 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.618 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.618 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.618 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.618 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.618 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.618 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.618 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.618 * [backup-simplify]: Simplify 0.5 into 0.5 19.618 * [taylor]: Taking taylor expansion of phi2 in phi2 19.618 * [backup-simplify]: Simplify 0 into 0 19.618 * [backup-simplify]: Simplify 1 into 1 19.619 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.619 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.619 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.619 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.619 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.619 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.619 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.619 * [backup-simplify]: Simplify 0.5 into 0.5 19.619 * [taylor]: Taking taylor expansion of phi1 in phi2 19.619 * [backup-simplify]: Simplify phi1 into phi1 19.619 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.619 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.619 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.619 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.619 * [backup-simplify]: Simplify (- 0) into 0 19.619 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.619 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.619 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.620 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.620 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.620 * [backup-simplify]: Simplify 0.5 into 0.5 19.620 * [taylor]: Taking taylor expansion of phi2 in phi2 19.620 * [backup-simplify]: Simplify 0 into 0 19.620 * [backup-simplify]: Simplify 1 into 1 19.620 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.620 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.620 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 19.620 * [taylor]: Taking taylor expansion of 2 in phi2 19.620 * [backup-simplify]: Simplify 2 into 2 19.620 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.620 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.620 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.620 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.620 * [backup-simplify]: Simplify 0.5 into 0.5 19.620 * [taylor]: Taking taylor expansion of phi1 in phi2 19.620 * [backup-simplify]: Simplify phi1 into phi1 19.620 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.620 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.621 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.621 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.621 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.621 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.621 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.621 * [backup-simplify]: Simplify 0.5 into 0.5 19.621 * [taylor]: Taking taylor expansion of phi1 in phi2 19.621 * [backup-simplify]: Simplify phi1 into phi1 19.621 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.621 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.621 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.621 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.621 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.621 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.621 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.621 * [backup-simplify]: Simplify 0.5 into 0.5 19.621 * [taylor]: Taking taylor expansion of phi2 in phi2 19.621 * [backup-simplify]: Simplify 0 into 0 19.621 * [backup-simplify]: Simplify 1 into 1 19.622 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.622 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.622 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.622 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.622 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.622 * [backup-simplify]: Simplify 0.5 into 0.5 19.622 * [taylor]: Taking taylor expansion of phi2 in phi2 19.622 * [backup-simplify]: Simplify 0 into 0 19.622 * [backup-simplify]: Simplify 1 into 1 19.623 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.623 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.623 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.623 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.623 * [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)) 19.624 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.624 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.624 * [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)) 19.625 * [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))) 19.625 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.625 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.626 * [backup-simplify]: Simplify (- 0) into 0 19.626 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.626 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.626 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.626 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.626 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.627 * [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)))) 19.627 * [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))))) 19.627 * [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)))))) 19.628 * [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))))))) 19.629 * [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))))))) 19.632 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 19.635 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 19.636 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 19.637 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 19.638 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.638 * [backup-simplify]: Simplify (+ 0) into 0 19.638 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.638 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.639 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.639 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.640 * [backup-simplify]: Simplify (+ 0 0) into 0 19.640 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.640 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.640 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.640 * [backup-simplify]: Simplify (+ 0) into 0 19.641 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.641 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.642 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.642 * [backup-simplify]: Simplify (- 0) into 0 19.642 * [backup-simplify]: Simplify (+ 0 0) into 0 19.642 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.643 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.643 * [backup-simplify]: Simplify (+ 0 0) into 0 19.643 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.643 * [backup-simplify]: Simplify (+ 0) into 0 19.644 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.644 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.645 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.645 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.645 * [backup-simplify]: Simplify (+ 0 0) into 0 19.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 19.646 * [backup-simplify]: Simplify (+ 0) into 0 19.646 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.646 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.647 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.647 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.647 * [backup-simplify]: Simplify (- 0) into 0 19.647 * [backup-simplify]: Simplify (+ 0 0) into 0 19.647 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.648 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 19.648 * [backup-simplify]: Simplify (- 0) into 0 19.648 * [backup-simplify]: Simplify (+ 0 0) into 0 19.650 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 19.654 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 19.656 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.657 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.657 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) in phi2 19.657 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in phi2 19.658 * [taylor]: Taking taylor expansion of 1/2 in phi2 19.658 * [backup-simplify]: Simplify 1/2 into 1/2 19.658 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi2 19.658 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) in phi2 19.658 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.658 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.658 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.658 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.658 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.658 * [backup-simplify]: Simplify 0.5 into 0.5 19.658 * [taylor]: Taking taylor expansion of phi1 in phi2 19.658 * [backup-simplify]: Simplify phi1 into phi1 19.658 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.658 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.658 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.658 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.658 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.659 * [backup-simplify]: Simplify (- 0) into 0 19.659 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.659 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.659 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.659 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.659 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.659 * [backup-simplify]: Simplify 0.5 into 0.5 19.659 * [taylor]: Taking taylor expansion of phi2 in phi2 19.659 * [backup-simplify]: Simplify 0 into 0 19.659 * [backup-simplify]: Simplify 1 into 1 19.659 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.659 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.659 * [taylor]: Taking taylor expansion of (* R (pow phi1 2)) in phi2 19.659 * [taylor]: Taking taylor expansion of R in phi2 19.659 * [backup-simplify]: Simplify R into R 19.659 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 19.659 * [taylor]: Taking taylor expansion of phi1 in phi2 19.659 * [backup-simplify]: Simplify phi1 into phi1 19.659 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.659 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.660 * [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)) 19.660 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 19.660 * [backup-simplify]: Simplify (* R (pow phi1 2)) into (* (pow phi1 2) R) 19.660 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) 19.660 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi2 19.660 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi2 19.660 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi2 19.660 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 19.660 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 19.660 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.660 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.660 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.660 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.660 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.660 * [backup-simplify]: Simplify 0.5 into 0.5 19.660 * [taylor]: Taking taylor expansion of phi1 in phi2 19.660 * [backup-simplify]: Simplify phi1 into phi1 19.660 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.660 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.660 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.661 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.661 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.661 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.661 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.661 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.661 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.661 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.661 * [backup-simplify]: Simplify 0.5 into 0.5 19.661 * [taylor]: Taking taylor expansion of phi2 in phi2 19.661 * [backup-simplify]: Simplify 0 into 0 19.661 * [backup-simplify]: Simplify 1 into 1 19.661 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.661 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.661 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.661 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.662 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.662 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.662 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.662 * [backup-simplify]: Simplify 0.5 into 0.5 19.662 * [taylor]: Taking taylor expansion of phi1 in phi2 19.662 * [backup-simplify]: Simplify phi1 into phi1 19.662 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.662 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.662 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.662 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.662 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.662 * [backup-simplify]: Simplify (- 0) into 0 19.662 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.662 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.662 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.662 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.662 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.662 * [backup-simplify]: Simplify 0.5 into 0.5 19.662 * [taylor]: Taking taylor expansion of phi2 in phi2 19.662 * [backup-simplify]: Simplify 0 into 0 19.662 * [backup-simplify]: Simplify 1 into 1 19.663 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.663 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.663 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 19.663 * [taylor]: Taking taylor expansion of 2 in phi2 19.663 * [backup-simplify]: Simplify 2 into 2 19.663 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.663 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.663 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.663 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.663 * [backup-simplify]: Simplify 0.5 into 0.5 19.663 * [taylor]: Taking taylor expansion of phi1 in phi2 19.663 * [backup-simplify]: Simplify phi1 into phi1 19.663 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.663 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.663 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.663 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.663 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.663 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.663 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.663 * [backup-simplify]: Simplify 0.5 into 0.5 19.663 * [taylor]: Taking taylor expansion of phi1 in phi2 19.663 * [backup-simplify]: Simplify phi1 into phi1 19.663 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.663 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.663 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.663 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.663 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.663 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.663 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.663 * [backup-simplify]: Simplify 0.5 into 0.5 19.663 * [taylor]: Taking taylor expansion of phi2 in phi2 19.663 * [backup-simplify]: Simplify 0 into 0 19.663 * [backup-simplify]: Simplify 1 into 1 19.664 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.664 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.664 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.664 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.664 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.664 * [backup-simplify]: Simplify 0.5 into 0.5 19.664 * [taylor]: Taking taylor expansion of phi2 in phi2 19.664 * [backup-simplify]: Simplify 0 into 0 19.664 * [backup-simplify]: Simplify 1 into 1 19.665 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.665 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.665 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.665 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.666 * [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)) 19.666 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.666 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.666 * [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)) 19.667 * [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))) 19.667 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.667 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.668 * [backup-simplify]: Simplify (- 0) into 0 19.668 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.668 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.668 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.668 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.668 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.669 * [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)))) 19.669 * [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))))) 19.669 * [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)))))) 19.670 * [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))))))) 19.671 * [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))))))) 19.674 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 19.677 * [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))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 19.679 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 19.681 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 19.681 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.682 * [backup-simplify]: Simplify (+ 0) into 0 19.682 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.683 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.683 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.684 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.684 * [backup-simplify]: Simplify (+ 0 0) into 0 19.684 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.685 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.685 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.686 * [backup-simplify]: Simplify (+ 0) into 0 19.686 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.686 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.688 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.688 * [backup-simplify]: Simplify (- 0) into 0 19.688 * [backup-simplify]: Simplify (+ 0 0) into 0 19.688 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.689 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.689 * [backup-simplify]: Simplify (+ 0 0) into 0 19.690 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.690 * [backup-simplify]: Simplify (+ 0) into 0 19.690 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.691 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.691 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.692 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.692 * [backup-simplify]: Simplify (+ 0 0) into 0 19.692 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 19.693 * [backup-simplify]: Simplify (+ 0) into 0 19.693 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.693 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.694 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.694 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.694 * [backup-simplify]: Simplify (- 0) into 0 19.694 * [backup-simplify]: Simplify (+ 0 0) into 0 19.695 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.695 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 19.695 * [backup-simplify]: Simplify (- 0) into 0 19.696 * [backup-simplify]: Simplify (+ 0 0) into 0 19.697 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 19.699 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 19.700 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.701 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.702 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) in phi2 19.702 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in phi2 19.702 * [taylor]: Taking taylor expansion of 1/2 in phi2 19.702 * [backup-simplify]: Simplify 1/2 into 1/2 19.702 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi2 19.702 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow phi1 2) R)) in phi2 19.702 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.702 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.702 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.702 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.702 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.702 * [backup-simplify]: Simplify 0.5 into 0.5 19.702 * [taylor]: Taking taylor expansion of phi1 in phi2 19.702 * [backup-simplify]: Simplify phi1 into phi1 19.702 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.702 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.702 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.702 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.702 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.702 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.702 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.702 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.702 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.702 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.702 * [backup-simplify]: Simplify 0.5 into 0.5 19.702 * [taylor]: Taking taylor expansion of phi2 in phi2 19.702 * [backup-simplify]: Simplify 0 into 0 19.702 * [backup-simplify]: Simplify 1 into 1 19.703 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.703 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.703 * [taylor]: Taking taylor expansion of (* (pow phi1 2) R) in phi2 19.703 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 19.703 * [taylor]: Taking taylor expansion of phi1 in phi2 19.703 * [backup-simplify]: Simplify phi1 into phi1 19.703 * [taylor]: Taking taylor expansion of R in phi2 19.703 * [backup-simplify]: Simplify R into R 19.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.703 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.703 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 19.703 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 19.703 * [backup-simplify]: Simplify (* (pow phi1 2) R) into (* R (pow phi1 2)) 19.704 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R (pow phi1 2))) 19.704 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi2 19.704 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi2 19.704 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi2 19.704 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 19.704 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 19.704 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.704 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.704 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.704 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.704 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.704 * [backup-simplify]: Simplify 0.5 into 0.5 19.704 * [taylor]: Taking taylor expansion of phi1 in phi2 19.704 * [backup-simplify]: Simplify phi1 into phi1 19.704 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.704 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.704 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.704 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.704 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.704 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.704 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.704 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.704 * [backup-simplify]: Simplify 0.5 into 0.5 19.704 * [taylor]: Taking taylor expansion of phi2 in phi2 19.704 * [backup-simplify]: Simplify 0 into 0 19.705 * [backup-simplify]: Simplify 1 into 1 19.705 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.705 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.705 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.705 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.705 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.705 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.705 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.705 * [backup-simplify]: Simplify 0.5 into 0.5 19.705 * [taylor]: Taking taylor expansion of phi1 in phi2 19.705 * [backup-simplify]: Simplify phi1 into phi1 19.705 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.705 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.705 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.706 * [backup-simplify]: Simplify (- 0) into 0 19.706 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.706 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.706 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.706 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.706 * [backup-simplify]: Simplify 0.5 into 0.5 19.706 * [taylor]: Taking taylor expansion of phi2 in phi2 19.706 * [backup-simplify]: Simplify 0 into 0 19.706 * [backup-simplify]: Simplify 1 into 1 19.706 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.706 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 19.706 * [taylor]: Taking taylor expansion of 2 in phi2 19.706 * [backup-simplify]: Simplify 2 into 2 19.706 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.706 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.706 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.706 * [backup-simplify]: Simplify 0.5 into 0.5 19.706 * [taylor]: Taking taylor expansion of phi1 in phi2 19.706 * [backup-simplify]: Simplify phi1 into phi1 19.706 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.707 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.707 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.707 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.707 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.707 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.707 * [backup-simplify]: Simplify 0.5 into 0.5 19.707 * [taylor]: Taking taylor expansion of phi1 in phi2 19.707 * [backup-simplify]: Simplify phi1 into phi1 19.707 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.707 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.707 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.707 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.707 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.707 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.707 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.707 * [backup-simplify]: Simplify 0.5 into 0.5 19.707 * [taylor]: Taking taylor expansion of phi2 in phi2 19.707 * [backup-simplify]: Simplify 0 into 0 19.707 * [backup-simplify]: Simplify 1 into 1 19.707 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.707 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.707 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.707 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.707 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.707 * [backup-simplify]: Simplify 0.5 into 0.5 19.707 * [taylor]: Taking taylor expansion of phi2 in phi2 19.707 * [backup-simplify]: Simplify 0 into 0 19.707 * [backup-simplify]: Simplify 1 into 1 19.708 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.708 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.708 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.708 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.708 * [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)) 19.708 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.708 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.709 * [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)) 19.709 * [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))) 19.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.709 * [backup-simplify]: Simplify (- 0) into 0 19.710 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.710 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.710 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.710 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.710 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.710 * [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)))) 19.710 * [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))))) 19.710 * [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)))))) 19.711 * [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))))))) 19.711 * [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))))))) 19.713 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 19.715 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 19.716 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 19.716 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 19.717 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.717 * [backup-simplify]: Simplify (+ 0) into 0 19.717 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.717 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.718 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.719 * [backup-simplify]: Simplify (+ 0 0) into 0 19.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.719 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.719 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.719 * [backup-simplify]: Simplify (+ 0) into 0 19.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.720 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.721 * [backup-simplify]: Simplify (- 0) into 0 19.721 * [backup-simplify]: Simplify (+ 0 0) into 0 19.721 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.721 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.722 * [backup-simplify]: Simplify (+ 0 0) into 0 19.722 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.722 * [backup-simplify]: Simplify (+ 0) into 0 19.722 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.723 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.723 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.724 * [backup-simplify]: Simplify (+ 0 0) into 0 19.724 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 19.724 * [backup-simplify]: Simplify (+ 0) into 0 19.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.725 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.726 * [backup-simplify]: Simplify (- 0) into 0 19.727 * [backup-simplify]: Simplify (+ 0 0) into 0 19.727 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.728 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 19.728 * [backup-simplify]: Simplify (- 0) into 0 19.729 * [backup-simplify]: Simplify (+ 0 0) into 0 19.732 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 19.735 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 19.739 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.741 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.741 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in phi2 19.741 * [taylor]: Taking taylor expansion of 1/2 in phi2 19.741 * [backup-simplify]: Simplify 1/2 into 1/2 19.741 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi2 19.741 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (pow phi2 2))) in phi2 19.741 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.741 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.741 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.741 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.741 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.741 * [backup-simplify]: Simplify 0.5 into 0.5 19.741 * [taylor]: Taking taylor expansion of phi1 in phi2 19.741 * [backup-simplify]: Simplify phi1 into phi1 19.741 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.741 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.741 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.742 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.742 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.742 * [backup-simplify]: Simplify (- 0) into 0 19.742 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.743 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.743 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.743 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.743 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.743 * [backup-simplify]: Simplify 0.5 into 0.5 19.743 * [taylor]: Taking taylor expansion of phi2 in phi2 19.743 * [backup-simplify]: Simplify 0 into 0 19.743 * [backup-simplify]: Simplify 1 into 1 19.743 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.743 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.743 * [taylor]: Taking taylor expansion of (* R (pow phi2 2)) in phi2 19.743 * [taylor]: Taking taylor expansion of R in phi2 19.743 * [backup-simplify]: Simplify R into R 19.743 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 19.744 * [taylor]: Taking taylor expansion of phi2 in phi2 19.744 * [backup-simplify]: Simplify 0 into 0 19.744 * [backup-simplify]: Simplify 1 into 1 19.744 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.744 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.744 * [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)) 19.745 * [backup-simplify]: Simplify (* 1 1) into 1 19.745 * [backup-simplify]: Simplify (* R 1) into R 19.745 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 19.745 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi2 19.745 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi2 19.746 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi2 19.746 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 19.746 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 19.746 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.746 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.746 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.746 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.746 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.746 * [backup-simplify]: Simplify 0.5 into 0.5 19.746 * [taylor]: Taking taylor expansion of phi1 in phi2 19.746 * [backup-simplify]: Simplify phi1 into phi1 19.746 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.746 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.746 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.746 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.746 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.747 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.747 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.747 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.747 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.747 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.747 * [backup-simplify]: Simplify 0.5 into 0.5 19.747 * [taylor]: Taking taylor expansion of phi2 in phi2 19.747 * [backup-simplify]: Simplify 0 into 0 19.747 * [backup-simplify]: Simplify 1 into 1 19.748 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.748 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.748 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.748 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.748 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.748 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.748 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.748 * [backup-simplify]: Simplify 0.5 into 0.5 19.748 * [taylor]: Taking taylor expansion of phi1 in phi2 19.748 * [backup-simplify]: Simplify phi1 into phi1 19.748 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.748 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.748 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.748 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.749 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.749 * [backup-simplify]: Simplify (- 0) into 0 19.749 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.749 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.749 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.749 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.749 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.749 * [backup-simplify]: Simplify 0.5 into 0.5 19.749 * [taylor]: Taking taylor expansion of phi2 in phi2 19.749 * [backup-simplify]: Simplify 0 into 0 19.749 * [backup-simplify]: Simplify 1 into 1 19.750 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.750 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.750 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 19.750 * [taylor]: Taking taylor expansion of 2 in phi2 19.750 * [backup-simplify]: Simplify 2 into 2 19.750 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.750 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.750 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.750 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.750 * [backup-simplify]: Simplify 0.5 into 0.5 19.750 * [taylor]: Taking taylor expansion of phi1 in phi2 19.750 * [backup-simplify]: Simplify phi1 into phi1 19.750 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.751 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.751 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.751 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.751 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.751 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.751 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.751 * [backup-simplify]: Simplify 0.5 into 0.5 19.751 * [taylor]: Taking taylor expansion of phi1 in phi2 19.751 * [backup-simplify]: Simplify phi1 into phi1 19.751 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.751 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.751 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.751 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.751 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.751 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.751 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.751 * [backup-simplify]: Simplify 0.5 into 0.5 19.751 * [taylor]: Taking taylor expansion of phi2 in phi2 19.751 * [backup-simplify]: Simplify 0 into 0 19.751 * [backup-simplify]: Simplify 1 into 1 19.752 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.752 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.752 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.752 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.752 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.752 * [backup-simplify]: Simplify 0.5 into 0.5 19.752 * [taylor]: Taking taylor expansion of phi2 in phi2 19.752 * [backup-simplify]: Simplify 0 into 0 19.752 * [backup-simplify]: Simplify 1 into 1 19.753 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.753 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.753 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.753 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.754 * [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)) 19.754 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.754 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.755 * [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)) 19.755 * [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))) 19.756 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.756 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.756 * [backup-simplify]: Simplify (- 0) into 0 19.756 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.757 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.757 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.757 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.757 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.757 * [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)))) 19.758 * [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))))) 19.758 * [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)))))) 19.759 * [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))))))) 19.760 * [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))))))) 19.764 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 19.767 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 19.769 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 19.770 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 19.771 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.771 * [backup-simplify]: Simplify (+ 0) into 0 19.772 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.772 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.774 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.775 * [backup-simplify]: Simplify (+ 0 0) into 0 19.775 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.776 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.776 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.776 * [backup-simplify]: Simplify (+ 0) into 0 19.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.777 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.778 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.779 * [backup-simplify]: Simplify (- 0) into 0 19.779 * [backup-simplify]: Simplify (+ 0 0) into 0 19.779 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.780 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.780 * [backup-simplify]: Simplify (+ 0 0) into 0 19.781 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.781 * [backup-simplify]: Simplify (+ 0) into 0 19.781 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.782 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.782 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.783 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.783 * [backup-simplify]: Simplify (+ 0 0) into 0 19.783 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 19.784 * [backup-simplify]: Simplify (+ 0) into 0 19.784 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.785 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.785 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.786 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.786 * [backup-simplify]: Simplify (- 0) into 0 19.787 * [backup-simplify]: Simplify (+ 0 0) into 0 19.787 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.788 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 19.788 * [backup-simplify]: Simplify (- 0) into 0 19.788 * [backup-simplify]: Simplify (+ 0 0) into 0 19.791 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 19.794 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 19.798 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.800 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.800 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) in phi2 19.800 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi2 19.800 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi1 2) R)) in phi2 19.800 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.800 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.800 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.800 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.800 * [backup-simplify]: Simplify 0.5 into 0.5 19.800 * [taylor]: Taking taylor expansion of phi1 in phi2 19.800 * [backup-simplify]: Simplify phi1 into phi1 19.800 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.800 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.800 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.800 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.801 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.801 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.801 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.801 * [backup-simplify]: Simplify 0.5 into 0.5 19.801 * [taylor]: Taking taylor expansion of phi1 in phi2 19.801 * [backup-simplify]: Simplify phi1 into phi1 19.801 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.801 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.801 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.801 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.801 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.801 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.801 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.801 * [backup-simplify]: Simplify 0.5 into 0.5 19.801 * [taylor]: Taking taylor expansion of phi2 in phi2 19.801 * [backup-simplify]: Simplify 0 into 0 19.801 * [backup-simplify]: Simplify 1 into 1 19.802 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.802 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.802 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.802 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.802 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.802 * [backup-simplify]: Simplify 0.5 into 0.5 19.802 * [taylor]: Taking taylor expansion of phi2 in phi2 19.802 * [backup-simplify]: Simplify 0 into 0 19.802 * [backup-simplify]: Simplify 1 into 1 19.803 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.803 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.803 * [taylor]: Taking taylor expansion of (* (pow phi1 2) R) in phi2 19.803 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 19.803 * [taylor]: Taking taylor expansion of phi1 in phi2 19.803 * [backup-simplify]: Simplify phi1 into phi1 19.803 * [taylor]: Taking taylor expansion of R in phi2 19.803 * [backup-simplify]: Simplify R into R 19.803 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.803 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.803 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.803 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.803 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.804 * [backup-simplify]: Simplify (- 0) into 0 19.804 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.804 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.804 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 19.805 * [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))))) 19.805 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 19.805 * [backup-simplify]: Simplify (* (pow phi1 2) R) into (* R (pow phi1 2)) 19.805 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R (pow phi1 2))) 19.805 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi2 19.806 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi2 19.806 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi2 19.806 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 19.806 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 19.806 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.806 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.806 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.806 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.806 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.806 * [backup-simplify]: Simplify 0.5 into 0.5 19.806 * [taylor]: Taking taylor expansion of phi1 in phi2 19.806 * [backup-simplify]: Simplify phi1 into phi1 19.806 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.806 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.806 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.806 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.806 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.807 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.807 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.807 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.807 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.807 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.807 * [backup-simplify]: Simplify 0.5 into 0.5 19.807 * [taylor]: Taking taylor expansion of phi2 in phi2 19.807 * [backup-simplify]: Simplify 0 into 0 19.807 * [backup-simplify]: Simplify 1 into 1 19.807 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.808 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.808 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.808 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.808 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.808 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.808 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.808 * [backup-simplify]: Simplify 0.5 into 0.5 19.808 * [taylor]: Taking taylor expansion of phi1 in phi2 19.808 * [backup-simplify]: Simplify phi1 into phi1 19.808 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.808 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.808 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.808 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.808 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.809 * [backup-simplify]: Simplify (- 0) into 0 19.809 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.809 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.809 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.809 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.809 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.809 * [backup-simplify]: Simplify 0.5 into 0.5 19.809 * [taylor]: Taking taylor expansion of phi2 in phi2 19.809 * [backup-simplify]: Simplify 0 into 0 19.809 * [backup-simplify]: Simplify 1 into 1 19.809 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.810 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.810 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 19.810 * [taylor]: Taking taylor expansion of 2 in phi2 19.810 * [backup-simplify]: Simplify 2 into 2 19.810 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.810 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.810 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.810 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.810 * [backup-simplify]: Simplify 0.5 into 0.5 19.810 * [taylor]: Taking taylor expansion of phi1 in phi2 19.810 * [backup-simplify]: Simplify phi1 into phi1 19.810 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.810 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.810 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.810 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.810 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.810 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.810 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.810 * [backup-simplify]: Simplify 0.5 into 0.5 19.810 * [taylor]: Taking taylor expansion of phi1 in phi2 19.810 * [backup-simplify]: Simplify phi1 into phi1 19.810 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.810 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.811 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.811 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.811 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.811 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.811 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.811 * [backup-simplify]: Simplify 0.5 into 0.5 19.811 * [taylor]: Taking taylor expansion of phi2 in phi2 19.811 * [backup-simplify]: Simplify 0 into 0 19.811 * [backup-simplify]: Simplify 1 into 1 19.811 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.811 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.811 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.811 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.811 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.811 * [backup-simplify]: Simplify 0.5 into 0.5 19.811 * [taylor]: Taking taylor expansion of phi2 in phi2 19.812 * [backup-simplify]: Simplify 0 into 0 19.812 * [backup-simplify]: Simplify 1 into 1 19.812 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.812 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.812 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.812 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.813 * [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)) 19.813 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.813 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.813 * [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)) 19.814 * [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))) 19.814 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.815 * [backup-simplify]: Simplify (- 0) into 0 19.815 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.815 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.815 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.816 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.816 * [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)))) 19.816 * [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))))) 19.817 * [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)))))) 19.817 * [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))))))) 19.819 * [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))))))) 19.821 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 19.829 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 19.831 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 19.832 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 19.833 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.833 * [backup-simplify]: Simplify (+ 0) into 0 19.834 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.834 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.835 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.836 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.836 * [backup-simplify]: Simplify (+ 0 0) into 0 19.837 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.837 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.837 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.838 * [backup-simplify]: Simplify (+ 0) into 0 19.838 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.840 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.840 * [backup-simplify]: Simplify (- 0) into 0 19.841 * [backup-simplify]: Simplify (+ 0 0) into 0 19.841 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.841 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.842 * [backup-simplify]: Simplify (+ 0 0) into 0 19.842 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.843 * [backup-simplify]: Simplify (+ 0) into 0 19.843 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.843 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.845 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.845 * [backup-simplify]: Simplify (+ 0 0) into 0 19.845 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 19.846 * [backup-simplify]: Simplify (+ 0) into 0 19.846 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.847 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.848 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.848 * [backup-simplify]: Simplify (- 0) into 0 19.848 * [backup-simplify]: Simplify (+ 0 0) into 0 19.849 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.849 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 19.850 * [backup-simplify]: Simplify (- 0) into 0 19.850 * [backup-simplify]: Simplify (+ 0 0) into 0 19.853 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 19.856 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 19.859 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.861 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.861 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) in phi2 19.861 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi2 19.862 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi2 (* phi1 R))) in phi2 19.862 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.862 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.862 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.862 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.862 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.862 * [backup-simplify]: Simplify 0.5 into 0.5 19.862 * [taylor]: Taking taylor expansion of phi1 in phi2 19.862 * [backup-simplify]: Simplify phi1 into phi1 19.862 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.862 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.862 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.862 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.862 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.862 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.862 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.863 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.863 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.863 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.863 * [backup-simplify]: Simplify 0.5 into 0.5 19.863 * [taylor]: Taking taylor expansion of phi2 in phi2 19.863 * [backup-simplify]: Simplify 0 into 0 19.863 * [backup-simplify]: Simplify 1 into 1 19.863 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.863 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.864 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 R)) in phi2 19.864 * [taylor]: Taking taylor expansion of phi2 in phi2 19.864 * [backup-simplify]: Simplify 0 into 0 19.864 * [backup-simplify]: Simplify 1 into 1 19.864 * [taylor]: Taking taylor expansion of (* phi1 R) in phi2 19.864 * [taylor]: Taking taylor expansion of phi1 in phi2 19.864 * [backup-simplify]: Simplify phi1 into phi1 19.864 * [taylor]: Taking taylor expansion of R in phi2 19.864 * [backup-simplify]: Simplify R into R 19.864 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.864 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.865 * [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)) 19.865 * [backup-simplify]: Simplify (* phi1 R) into (* R phi1) 19.865 * [backup-simplify]: Simplify (* 0 (* R phi1)) into 0 19.865 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 R)) into 0 19.865 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R phi1))) into (* phi1 R) 19.866 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi1 R)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi1 R)) 19.866 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi2 19.866 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi2 19.866 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi2 19.866 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 19.866 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 19.866 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.866 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.866 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.866 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.866 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.866 * [backup-simplify]: Simplify 0.5 into 0.5 19.866 * [taylor]: Taking taylor expansion of phi1 in phi2 19.867 * [backup-simplify]: Simplify phi1 into phi1 19.867 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.867 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.867 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.867 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.867 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.867 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.867 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.867 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.867 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.867 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.867 * [backup-simplify]: Simplify 0.5 into 0.5 19.867 * [taylor]: Taking taylor expansion of phi2 in phi2 19.867 * [backup-simplify]: Simplify 0 into 0 19.867 * [backup-simplify]: Simplify 1 into 1 19.868 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.868 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.868 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.868 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.868 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.868 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.868 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.868 * [backup-simplify]: Simplify 0.5 into 0.5 19.868 * [taylor]: Taking taylor expansion of phi1 in phi2 19.868 * [backup-simplify]: Simplify phi1 into phi1 19.868 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.869 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.869 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.869 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.869 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.869 * [backup-simplify]: Simplify (- 0) into 0 19.869 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.869 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.869 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.869 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.869 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.870 * [backup-simplify]: Simplify 0.5 into 0.5 19.870 * [taylor]: Taking taylor expansion of phi2 in phi2 19.870 * [backup-simplify]: Simplify 0 into 0 19.870 * [backup-simplify]: Simplify 1 into 1 19.870 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.870 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.870 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 19.870 * [taylor]: Taking taylor expansion of 2 in phi2 19.870 * [backup-simplify]: Simplify 2 into 2 19.870 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.870 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.870 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.870 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.870 * [backup-simplify]: Simplify 0.5 into 0.5 19.870 * [taylor]: Taking taylor expansion of phi1 in phi2 19.870 * [backup-simplify]: Simplify phi1 into phi1 19.871 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.871 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.871 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.871 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.871 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.871 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.871 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.871 * [backup-simplify]: Simplify 0.5 into 0.5 19.871 * [taylor]: Taking taylor expansion of phi1 in phi2 19.871 * [backup-simplify]: Simplify phi1 into phi1 19.871 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.871 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.871 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.871 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.871 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.871 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.871 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.871 * [backup-simplify]: Simplify 0.5 into 0.5 19.871 * [taylor]: Taking taylor expansion of phi2 in phi2 19.871 * [backup-simplify]: Simplify 0 into 0 19.871 * [backup-simplify]: Simplify 1 into 1 19.872 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.872 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.872 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.872 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.872 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.872 * [backup-simplify]: Simplify 0.5 into 0.5 19.872 * [taylor]: Taking taylor expansion of phi2 in phi2 19.872 * [backup-simplify]: Simplify 0 into 0 19.872 * [backup-simplify]: Simplify 1 into 1 19.873 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.873 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.873 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.873 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.874 * [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)) 19.874 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.874 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.874 * [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)) 19.875 * [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))) 19.875 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.875 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.876 * [backup-simplify]: Simplify (- 0) into 0 19.876 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.876 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.876 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.876 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.877 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.877 * [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)))) 19.877 * [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))))) 19.878 * [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)))))) 19.878 * [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))))))) 19.880 * [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))))))) 19.883 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 19.886 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 19.888 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 19.889 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 19.890 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.890 * [backup-simplify]: Simplify (+ 0) into 0 19.891 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.891 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.892 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.893 * [backup-simplify]: Simplify (+ 0 0) into 0 19.893 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.893 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.893 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.894 * [backup-simplify]: Simplify (+ 0) into 0 19.894 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.895 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.896 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.896 * [backup-simplify]: Simplify (- 0) into 0 19.897 * [backup-simplify]: Simplify (+ 0 0) into 0 19.897 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.897 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.898 * [backup-simplify]: Simplify (+ 0 0) into 0 19.898 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.898 * [backup-simplify]: Simplify (+ 0) into 0 19.899 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.899 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.900 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.900 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.901 * [backup-simplify]: Simplify (+ 0 0) into 0 19.901 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 19.901 * [backup-simplify]: Simplify (+ 0) into 0 19.902 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.902 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.903 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.903 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.904 * [backup-simplify]: Simplify (- 0) into 0 19.904 * [backup-simplify]: Simplify (+ 0 0) into 0 19.904 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.905 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 19.906 * [backup-simplify]: Simplify (- 0) into 0 19.906 * [backup-simplify]: Simplify (+ 0 0) into 0 19.909 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 19.912 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 19.915 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.917 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.917 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in phi2 19.917 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi2 19.917 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* (pow phi2 2) R)) in phi2 19.917 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.917 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.917 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.917 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.918 * [backup-simplify]: Simplify 0.5 into 0.5 19.918 * [taylor]: Taking taylor expansion of phi1 in phi2 19.918 * [backup-simplify]: Simplify phi1 into phi1 19.918 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.918 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.918 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.918 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.918 * [backup-simplify]: Simplify 0.5 into 0.5 19.918 * [taylor]: Taking taylor expansion of phi1 in phi2 19.918 * [backup-simplify]: Simplify phi1 into phi1 19.918 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.918 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.918 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.918 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.918 * [backup-simplify]: Simplify 0.5 into 0.5 19.919 * [taylor]: Taking taylor expansion of phi2 in phi2 19.919 * [backup-simplify]: Simplify 0 into 0 19.919 * [backup-simplify]: Simplify 1 into 1 19.919 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.919 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.919 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.919 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.919 * [backup-simplify]: Simplify 0.5 into 0.5 19.919 * [taylor]: Taking taylor expansion of phi2 in phi2 19.920 * [backup-simplify]: Simplify 0 into 0 19.920 * [backup-simplify]: Simplify 1 into 1 19.920 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.920 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.920 * [taylor]: Taking taylor expansion of (* (pow phi2 2) R) in phi2 19.920 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 19.920 * [taylor]: Taking taylor expansion of phi2 in phi2 19.920 * [backup-simplify]: Simplify 0 into 0 19.920 * [backup-simplify]: Simplify 1 into 1 19.920 * [taylor]: Taking taylor expansion of R in phi2 19.920 * [backup-simplify]: Simplify R into R 19.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.921 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.921 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.921 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.921 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.921 * [backup-simplify]: Simplify (- 0) into 0 19.921 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.922 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 19.922 * [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))))) 19.923 * [backup-simplify]: Simplify (* 1 1) into 1 19.923 * [backup-simplify]: Simplify (* 1 R) into R 19.923 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 19.923 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi2 19.923 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi2 19.923 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi2 19.923 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 19.923 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 19.923 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.923 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.923 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.923 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.923 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.923 * [backup-simplify]: Simplify 0.5 into 0.5 19.923 * [taylor]: Taking taylor expansion of phi1 in phi2 19.924 * [backup-simplify]: Simplify phi1 into phi1 19.924 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.924 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.924 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.924 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.924 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.924 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.924 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.924 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.924 * [backup-simplify]: Simplify 0.5 into 0.5 19.924 * [taylor]: Taking taylor expansion of phi2 in phi2 19.924 * [backup-simplify]: Simplify 0 into 0 19.924 * [backup-simplify]: Simplify 1 into 1 19.925 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.925 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.925 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.925 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.925 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.925 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.925 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.925 * [backup-simplify]: Simplify 0.5 into 0.5 19.925 * [taylor]: Taking taylor expansion of phi1 in phi2 19.925 * [backup-simplify]: Simplify phi1 into phi1 19.925 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.925 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.925 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.926 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.926 * [backup-simplify]: Simplify (- 0) into 0 19.926 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.926 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.926 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.926 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.926 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.926 * [backup-simplify]: Simplify 0.5 into 0.5 19.926 * [taylor]: Taking taylor expansion of phi2 in phi2 19.926 * [backup-simplify]: Simplify 0 into 0 19.926 * [backup-simplify]: Simplify 1 into 1 19.927 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.927 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.927 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 19.927 * [taylor]: Taking taylor expansion of 2 in phi2 19.927 * [backup-simplify]: Simplify 2 into 2 19.927 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.927 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.927 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.927 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.927 * [backup-simplify]: Simplify 0.5 into 0.5 19.927 * [taylor]: Taking taylor expansion of phi1 in phi2 19.927 * [backup-simplify]: Simplify phi1 into phi1 19.927 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.927 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.927 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.927 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.927 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.928 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.928 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.928 * [backup-simplify]: Simplify 0.5 into 0.5 19.928 * [taylor]: Taking taylor expansion of phi1 in phi2 19.928 * [backup-simplify]: Simplify phi1 into phi1 19.928 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.928 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.928 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.928 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.928 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.928 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.928 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.928 * [backup-simplify]: Simplify 0.5 into 0.5 19.928 * [taylor]: Taking taylor expansion of phi2 in phi2 19.928 * [backup-simplify]: Simplify 0 into 0 19.928 * [backup-simplify]: Simplify 1 into 1 19.929 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.929 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.929 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.929 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.929 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.929 * [backup-simplify]: Simplify 0.5 into 0.5 19.929 * [taylor]: Taking taylor expansion of phi2 in phi2 19.929 * [backup-simplify]: Simplify 0 into 0 19.929 * [backup-simplify]: Simplify 1 into 1 19.929 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.929 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.930 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.930 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.930 * [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)) 19.930 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.931 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.931 * [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)) 19.932 * [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))) 19.932 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.932 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.932 * [backup-simplify]: Simplify (- 0) into 0 19.932 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.933 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.933 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.933 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.933 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.933 * [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)))) 19.934 * [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))))) 19.934 * [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)))))) 19.934 * [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))))))) 19.936 * [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))))))) 19.939 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 19.942 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 19.944 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 19.946 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 19.946 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.947 * [backup-simplify]: Simplify (+ 0) into 0 19.947 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.948 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.949 * [backup-simplify]: Simplify (+ 0 0) into 0 19.949 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.949 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.949 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.950 * [backup-simplify]: Simplify (+ 0) into 0 19.950 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.950 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.951 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.951 * [backup-simplify]: Simplify (- 0) into 0 19.951 * [backup-simplify]: Simplify (+ 0 0) into 0 19.951 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.952 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.952 * [backup-simplify]: Simplify (+ 0 0) into 0 19.952 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.952 * [backup-simplify]: Simplify (+ 0) into 0 19.953 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.953 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.953 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.954 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.954 * [backup-simplify]: Simplify (+ 0 0) into 0 19.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 19.954 * [backup-simplify]: Simplify (+ 0) into 0 19.955 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.955 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.956 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.956 * [backup-simplify]: Simplify (- 0) into 0 19.956 * [backup-simplify]: Simplify (+ 0 0) into 0 19.956 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 19.957 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 19.957 * [backup-simplify]: Simplify (- 0) into 0 19.957 * [backup-simplify]: Simplify (+ 0 0) into 0 19.959 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 19.960 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 19.962 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.963 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 19.963 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi2 19.963 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R (* phi1 phi2))) in phi2 19.963 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.963 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.963 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.963 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.964 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.964 * [backup-simplify]: Simplify 0.5 into 0.5 19.964 * [taylor]: Taking taylor expansion of phi1 in phi2 19.964 * [backup-simplify]: Simplify phi1 into phi1 19.964 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.964 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.964 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.964 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.964 * [backup-simplify]: Simplify (- 0) into 0 19.965 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.965 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.965 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.965 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.965 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.965 * [backup-simplify]: Simplify 0.5 into 0.5 19.965 * [taylor]: Taking taylor expansion of phi2 in phi2 19.965 * [backup-simplify]: Simplify 0 into 0 19.965 * [backup-simplify]: Simplify 1 into 1 19.965 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.965 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.965 * [taylor]: Taking taylor expansion of (* R (* phi1 phi2)) in phi2 19.966 * [taylor]: Taking taylor expansion of R in phi2 19.966 * [backup-simplify]: Simplify R into R 19.966 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 19.966 * [taylor]: Taking taylor expansion of phi1 in phi2 19.966 * [backup-simplify]: Simplify phi1 into phi1 19.966 * [taylor]: Taking taylor expansion of phi2 in phi2 19.966 * [backup-simplify]: Simplify 0 into 0 19.966 * [backup-simplify]: Simplify 1 into 1 19.966 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.966 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.966 * [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)) 19.966 * [backup-simplify]: Simplify (* phi1 0) into 0 19.966 * [backup-simplify]: Simplify (* R 0) into 0 19.967 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 19.967 * [backup-simplify]: Simplify (+ (* R phi1) (* 0 0)) into (* R phi1) 19.967 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) 19.967 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi2 19.967 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi2 19.967 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi2 19.967 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 19.967 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 19.967 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 19.967 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 19.967 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.967 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.967 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.968 * [backup-simplify]: Simplify 0.5 into 0.5 19.968 * [taylor]: Taking taylor expansion of phi1 in phi2 19.968 * [backup-simplify]: Simplify phi1 into phi1 19.968 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.968 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.968 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.968 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.968 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.968 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.968 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 19.968 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.968 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.968 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.968 * [backup-simplify]: Simplify 0.5 into 0.5 19.968 * [taylor]: Taking taylor expansion of phi2 in phi2 19.968 * [backup-simplify]: Simplify 0 into 0 19.968 * [backup-simplify]: Simplify 1 into 1 19.968 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.969 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.969 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 19.969 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 19.969 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.969 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.969 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.969 * [backup-simplify]: Simplify 0.5 into 0.5 19.969 * [taylor]: Taking taylor expansion of phi1 in phi2 19.969 * [backup-simplify]: Simplify phi1 into phi1 19.969 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.969 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.969 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.969 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.969 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.969 * [backup-simplify]: Simplify (- 0) into 0 19.969 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.969 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 19.969 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.969 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.970 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.970 * [backup-simplify]: Simplify 0.5 into 0.5 19.970 * [taylor]: Taking taylor expansion of phi2 in phi2 19.970 * [backup-simplify]: Simplify 0 into 0 19.970 * [backup-simplify]: Simplify 1 into 1 19.970 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.970 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.970 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 19.970 * [taylor]: Taking taylor expansion of 2 in phi2 19.970 * [backup-simplify]: Simplify 2 into 2 19.970 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 19.970 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 19.970 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.970 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.970 * [backup-simplify]: Simplify 0.5 into 0.5 19.970 * [taylor]: Taking taylor expansion of phi1 in phi2 19.970 * [backup-simplify]: Simplify phi1 into phi1 19.970 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.970 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.970 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.970 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 19.970 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 19.970 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 19.970 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.970 * [backup-simplify]: Simplify 0.5 into 0.5 19.970 * [taylor]: Taking taylor expansion of phi1 in phi2 19.970 * [backup-simplify]: Simplify phi1 into phi1 19.971 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 19.971 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 19.971 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 19.971 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 19.971 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 19.971 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.971 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.971 * [backup-simplify]: Simplify 0.5 into 0.5 19.971 * [taylor]: Taking taylor expansion of phi2 in phi2 19.971 * [backup-simplify]: Simplify 0 into 0 19.971 * [backup-simplify]: Simplify 1 into 1 19.971 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.971 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 19.971 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 19.971 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 19.971 * [taylor]: Taking taylor expansion of 0.5 in phi2 19.971 * [backup-simplify]: Simplify 0.5 into 0.5 19.971 * [taylor]: Taking taylor expansion of phi2 in phi2 19.971 * [backup-simplify]: Simplify 0 into 0 19.971 * [backup-simplify]: Simplify 1 into 1 19.972 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 19.972 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 19.972 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 19.972 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 19.972 * [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)) 19.972 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 19.972 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 19.972 * [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)) 19.973 * [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))) 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))) 19.973 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 19.973 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 19.973 * [backup-simplify]: Simplify (- 0) into 0 19.973 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 19.973 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 19.974 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 19.974 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 19.974 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 19.974 * [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)))) 19.974 * [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))))) 19.974 * [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)))))) 19.974 * [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))))))) 19.975 * [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))))))) 19.977 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 19.978 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 19.979 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 19.980 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 19.981 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 19.981 * [backup-simplify]: Simplify (+ 0) into 0 19.982 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.982 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.984 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.984 * [backup-simplify]: Simplify (+ 0 0) into 0 19.984 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 19.985 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 19.985 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.985 * [backup-simplify]: Simplify (+ 0) into 0 19.986 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.986 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.987 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.988 * [backup-simplify]: Simplify (- 0) into 0 19.988 * [backup-simplify]: Simplify (+ 0 0) into 0 19.988 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 19.989 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 19.989 * [backup-simplify]: Simplify (+ 0 0) into 0 19.990 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 19.990 * [backup-simplify]: Simplify (+ 0) into 0 19.991 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.991 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 19.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 19.997 * [backup-simplify]: Simplify (+ 0 0) into 0 19.997 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 19.998 * [backup-simplify]: Simplify (+ 0) into 0 19.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 19.998 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 19.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.000 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.000 * [backup-simplify]: Simplify (- 0) into 0 20.000 * [backup-simplify]: Simplify (+ 0 0) into 0 20.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.002 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 20.002 * [backup-simplify]: Simplify (- 0) into 0 20.002 * [backup-simplify]: Simplify (+ 0 0) into 0 20.006 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 20.009 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 20.013 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.015 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.015 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 20.016 * [backup-simplify]: Simplify (+ 0) into 0 20.017 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.017 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.018 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.019 * [backup-simplify]: Simplify (+ 0 0) into 0 20.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 20.019 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 20.020 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 20.020 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 20.021 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (/ 0 R)))) into 0 20.023 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.026 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.030 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 20.032 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.034 * [backup-simplify]: Simplify (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 20.034 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.034 * [backup-simplify]: Simplify (+ 0) into 0 20.035 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.035 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.035 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.036 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.036 * [backup-simplify]: Simplify (- 0) into 0 20.036 * [backup-simplify]: Simplify (+ 0 0) into 0 20.036 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 20.037 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 20.037 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 20.037 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 20.038 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (/ 0 R)))) into 0 20.039 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.040 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.042 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 20.042 * [backup-simplify]: Simplify (+ 0 0) into 0 20.042 * [backup-simplify]: Simplify (+ 0 0) into 0 20.044 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 0) into (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 20.045 * [backup-simplify]: Simplify (+ 0 (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 20.046 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.047 * [backup-simplify]: Simplify (+ 0) into 0 20.047 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.047 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.048 * [backup-simplify]: Simplify (- 0) into 0 20.049 * [backup-simplify]: Simplify (+ 0 0) into 0 20.049 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 20.049 * [backup-simplify]: Simplify (+ 0) into 0 20.049 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.050 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.050 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.051 * [backup-simplify]: Simplify (+ 0 0) into 0 20.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.051 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 20.051 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 20.052 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (/ 0 R)))) into 0 20.053 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.054 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.056 * [backup-simplify]: Simplify (+ 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.058 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 20.061 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 20.064 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (- (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) 20.068 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (- (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into (- (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) 20.069 * [taylor]: Taking taylor expansion of (- (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) in phi1 20.069 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in phi1 20.069 * [taylor]: Taking taylor expansion of 2 in phi1 20.069 * [backup-simplify]: Simplify 2 into 2 20.069 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi1 R)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi1 20.069 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* phi1 R)) in phi1 20.069 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 20.069 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 20.069 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.069 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.069 * [backup-simplify]: Simplify 0.5 into 0.5 20.069 * [taylor]: Taking taylor expansion of phi1 in phi1 20.069 * [backup-simplify]: Simplify 0 into 0 20.069 * [backup-simplify]: Simplify 1 into 1 20.069 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.069 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.070 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 20.070 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 20.070 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.070 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.070 * [backup-simplify]: Simplify 0.5 into 0.5 20.070 * [taylor]: Taking taylor expansion of phi1 in phi1 20.070 * [backup-simplify]: Simplify 0 into 0 20.070 * [backup-simplify]: Simplify 1 into 1 20.070 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.070 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.070 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 20.070 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 20.070 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.070 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.070 * [backup-simplify]: Simplify 0.5 into 0.5 20.070 * [taylor]: Taking taylor expansion of phi2 in phi1 20.070 * [backup-simplify]: Simplify phi2 into phi2 20.070 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.070 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.070 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.070 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 20.070 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.070 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.070 * [backup-simplify]: Simplify 0.5 into 0.5 20.070 * [taylor]: Taking taylor expansion of phi2 in phi1 20.070 * [backup-simplify]: Simplify phi2 into phi2 20.070 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.071 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.071 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.071 * [taylor]: Taking taylor expansion of (* phi1 R) in phi1 20.071 * [taylor]: Taking taylor expansion of phi1 in phi1 20.071 * [backup-simplify]: Simplify 0 into 0 20.071 * [backup-simplify]: Simplify 1 into 1 20.071 * [taylor]: Taking taylor expansion of R in phi1 20.071 * [backup-simplify]: Simplify R into R 20.071 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.071 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.071 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.071 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.071 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.071 * [backup-simplify]: Simplify (- 0) into 0 20.071 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.071 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 20.072 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) 20.072 * [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))))) 20.072 * [backup-simplify]: Simplify (* 0 R) into 0 20.072 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 20.072 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 20.072 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi1 20.072 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi1 20.072 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi1 20.072 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 20.072 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 20.073 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 20.073 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 20.073 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 20.073 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.073 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.073 * [backup-simplify]: Simplify 0.5 into 0.5 20.073 * [taylor]: Taking taylor expansion of phi1 in phi1 20.073 * [backup-simplify]: Simplify 0 into 0 20.073 * [backup-simplify]: Simplify 1 into 1 20.073 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.073 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.073 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 20.073 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 20.073 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.073 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.073 * [backup-simplify]: Simplify 0.5 into 0.5 20.073 * [taylor]: Taking taylor expansion of phi2 in phi1 20.073 * [backup-simplify]: Simplify phi2 into phi2 20.073 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.073 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.073 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.073 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.073 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.074 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.074 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 20.074 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 20.074 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 20.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.074 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.074 * [backup-simplify]: Simplify 0.5 into 0.5 20.074 * [taylor]: Taking taylor expansion of phi1 in phi1 20.074 * [backup-simplify]: Simplify 0 into 0 20.074 * [backup-simplify]: Simplify 1 into 1 20.074 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.074 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.074 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 20.074 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 20.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.074 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.074 * [backup-simplify]: Simplify 0.5 into 0.5 20.074 * [taylor]: Taking taylor expansion of phi2 in phi1 20.074 * [backup-simplify]: Simplify phi2 into phi2 20.074 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.074 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.074 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.074 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.074 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.075 * [backup-simplify]: Simplify (- 0) into 0 20.075 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.075 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 20.075 * [taylor]: Taking taylor expansion of 2 in phi1 20.075 * [backup-simplify]: Simplify 2 into 2 20.075 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 20.075 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 20.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.075 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.075 * [backup-simplify]: Simplify 0.5 into 0.5 20.075 * [taylor]: Taking taylor expansion of phi1 in phi1 20.075 * [backup-simplify]: Simplify 0 into 0 20.075 * [backup-simplify]: Simplify 1 into 1 20.075 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.075 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 20.075 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 20.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.075 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.075 * [backup-simplify]: Simplify 0.5 into 0.5 20.076 * [taylor]: Taking taylor expansion of phi1 in phi1 20.076 * [backup-simplify]: Simplify 0 into 0 20.076 * [backup-simplify]: Simplify 1 into 1 20.076 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.076 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.076 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 20.076 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 20.076 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.076 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.076 * [backup-simplify]: Simplify 0.5 into 0.5 20.076 * [taylor]: Taking taylor expansion of phi2 in phi1 20.076 * [backup-simplify]: Simplify phi2 into phi2 20.076 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.076 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.076 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.076 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 20.076 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.076 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.076 * [backup-simplify]: Simplify 0.5 into 0.5 20.076 * [taylor]: Taking taylor expansion of phi2 in phi1 20.076 * [backup-simplify]: Simplify phi2 into phi2 20.076 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.076 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.076 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.077 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 20.077 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 20.077 * [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)) 20.077 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 20.077 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 20.077 * [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)) 20.078 * [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))) 20.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.078 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.078 * [backup-simplify]: Simplify (- 0) into 0 20.078 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.079 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 20.079 * [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)))) 20.079 * [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))))) 20.079 * [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)))))) 20.079 * [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))))))) 20.080 * [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))))))) 20.082 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 20.083 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 20.084 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 20.085 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 20.086 * [backup-simplify]: Simplify (+ 0) into 0 20.086 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.086 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.087 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.087 * [backup-simplify]: Simplify (+ 0 0) into 0 20.087 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 20.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 20.088 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 20.088 * [backup-simplify]: Simplify (+ 0) into 0 20.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.090 * [backup-simplify]: Simplify (- 0) into 0 20.091 * [backup-simplify]: Simplify (+ 0 0) into 0 20.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.091 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 20.091 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 20.092 * [backup-simplify]: Simplify (+ 0 0) into 0 20.092 * [backup-simplify]: Simplify (+ 0) into 0 20.093 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.093 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.094 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.094 * [backup-simplify]: Simplify (- 0) into 0 20.095 * [backup-simplify]: Simplify (+ 0 0) into 0 20.095 * [backup-simplify]: Simplify (+ 0) into 0 20.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.096 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.097 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.097 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.097 * [backup-simplify]: Simplify (+ 0 0) into 0 20.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 20.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.099 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 20.099 * [backup-simplify]: Simplify (- 0) into 0 20.099 * [backup-simplify]: Simplify (+ 0 0) into 0 20.102 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 20.105 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 20.108 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.109 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.109 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in phi1 20.110 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi1 20.110 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* R phi1)) in phi1 20.110 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 20.110 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 20.110 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 20.110 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.110 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.110 * [backup-simplify]: Simplify 0.5 into 0.5 20.110 * [taylor]: Taking taylor expansion of phi1 in phi1 20.110 * [backup-simplify]: Simplify 0 into 0 20.110 * [backup-simplify]: Simplify 1 into 1 20.111 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.111 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 20.111 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 20.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.111 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.111 * [backup-simplify]: Simplify 0.5 into 0.5 20.111 * [taylor]: Taking taylor expansion of phi2 in phi1 20.111 * [backup-simplify]: Simplify phi2 into phi2 20.111 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.111 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.111 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.111 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.111 * [taylor]: Taking taylor expansion of (* R phi1) in phi1 20.112 * [taylor]: Taking taylor expansion of R in phi1 20.112 * [backup-simplify]: Simplify R into R 20.112 * [taylor]: Taking taylor expansion of phi1 in phi1 20.112 * [backup-simplify]: Simplify 0 into 0 20.112 * [backup-simplify]: Simplify 1 into 1 20.112 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 20.112 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 20.112 * [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)) 20.112 * [backup-simplify]: Simplify (* R 0) into 0 20.113 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 20.113 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 20.113 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi1 20.113 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi1 20.113 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi1 20.113 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 20.113 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 20.113 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 20.113 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 20.113 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 20.113 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.113 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.113 * [backup-simplify]: Simplify 0.5 into 0.5 20.113 * [taylor]: Taking taylor expansion of phi1 in phi1 20.113 * [backup-simplify]: Simplify 0 into 0 20.113 * [backup-simplify]: Simplify 1 into 1 20.114 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.114 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.114 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 20.114 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 20.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.114 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.114 * [backup-simplify]: Simplify 0.5 into 0.5 20.114 * [taylor]: Taking taylor expansion of phi2 in phi1 20.114 * [backup-simplify]: Simplify phi2 into phi2 20.114 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.114 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.114 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.114 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.114 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.114 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 20.114 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 20.114 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 20.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.114 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.114 * [backup-simplify]: Simplify 0.5 into 0.5 20.114 * [taylor]: Taking taylor expansion of phi1 in phi1 20.114 * [backup-simplify]: Simplify 0 into 0 20.114 * [backup-simplify]: Simplify 1 into 1 20.115 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.115 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 20.115 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 20.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.115 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.115 * [backup-simplify]: Simplify 0.5 into 0.5 20.115 * [taylor]: Taking taylor expansion of phi2 in phi1 20.115 * [backup-simplify]: Simplify phi2 into phi2 20.115 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.115 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.115 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.116 * [backup-simplify]: Simplify (- 0) into 0 20.116 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.116 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 20.116 * [taylor]: Taking taylor expansion of 2 in phi1 20.116 * [backup-simplify]: Simplify 2 into 2 20.116 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 20.116 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 20.116 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.116 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.116 * [backup-simplify]: Simplify 0.5 into 0.5 20.116 * [taylor]: Taking taylor expansion of phi1 in phi1 20.116 * [backup-simplify]: Simplify 0 into 0 20.116 * [backup-simplify]: Simplify 1 into 1 20.117 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.117 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.117 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 20.117 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 20.117 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.117 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.117 * [backup-simplify]: Simplify 0.5 into 0.5 20.117 * [taylor]: Taking taylor expansion of phi1 in phi1 20.117 * [backup-simplify]: Simplify 0 into 0 20.117 * [backup-simplify]: Simplify 1 into 1 20.117 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.117 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.117 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 20.117 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 20.117 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.117 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.117 * [backup-simplify]: Simplify 0.5 into 0.5 20.117 * [taylor]: Taking taylor expansion of phi2 in phi1 20.117 * [backup-simplify]: Simplify phi2 into phi2 20.118 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.118 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.118 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.118 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 20.118 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.118 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.118 * [backup-simplify]: Simplify 0.5 into 0.5 20.118 * [taylor]: Taking taylor expansion of phi2 in phi1 20.118 * [backup-simplify]: Simplify phi2 into phi2 20.118 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.118 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.118 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 20.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 20.118 * [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)) 20.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 20.119 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 20.119 * [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)) 20.119 * [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))) 20.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.120 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.120 * [backup-simplify]: Simplify (- 0) into 0 20.120 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.120 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 20.120 * [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)))) 20.121 * [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))))) 20.121 * [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)))))) 20.121 * [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))))))) 20.122 * [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))))))) 20.124 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 20.125 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 20.126 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 20.127 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 20.131 * [backup-simplify]: Simplify (+ 0) into 0 20.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.134 * [backup-simplify]: Simplify (+ 0 0) into 0 20.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 20.135 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 20.135 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 20.136 * [backup-simplify]: Simplify (+ 0) into 0 20.136 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.136 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.137 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.138 * [backup-simplify]: Simplify (- 0) into 0 20.138 * [backup-simplify]: Simplify (+ 0 0) into 0 20.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 20.139 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 20.139 * [backup-simplify]: Simplify (+ 0 0) into 0 20.139 * [backup-simplify]: Simplify (+ 0) into 0 20.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.140 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.141 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.141 * [backup-simplify]: Simplify (- 0) into 0 20.141 * [backup-simplify]: Simplify (+ 0 0) into 0 20.142 * [backup-simplify]: Simplify (+ 0) into 0 20.142 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.143 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.144 * [backup-simplify]: Simplify (+ 0 0) into 0 20.144 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 20.145 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.146 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 20.146 * [backup-simplify]: Simplify (- 0) into 0 20.147 * [backup-simplify]: Simplify (+ 0 0) into 0 20.150 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 20.152 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 20.156 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.158 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.158 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi1 20.158 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* R phi1)) in phi1 20.158 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 20.158 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 20.158 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 20.158 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.158 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.158 * [backup-simplify]: Simplify 0.5 into 0.5 20.158 * [taylor]: Taking taylor expansion of phi1 in phi1 20.158 * [backup-simplify]: Simplify 0 into 0 20.158 * [backup-simplify]: Simplify 1 into 1 20.159 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.159 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.159 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 20.159 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 20.159 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.159 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.159 * [backup-simplify]: Simplify 0.5 into 0.5 20.159 * [taylor]: Taking taylor expansion of phi2 in phi1 20.159 * [backup-simplify]: Simplify phi2 into phi2 20.159 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.159 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.160 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.160 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.160 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.160 * [backup-simplify]: Simplify (- 0) into 0 20.160 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.160 * [taylor]: Taking taylor expansion of (* R phi1) in phi1 20.160 * [taylor]: Taking taylor expansion of R in phi1 20.160 * [backup-simplify]: Simplify R into R 20.161 * [taylor]: Taking taylor expansion of phi1 in phi1 20.161 * [backup-simplify]: Simplify 0 into 0 20.161 * [backup-simplify]: Simplify 1 into 1 20.161 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 20.161 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 20.161 * [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)) 20.161 * [backup-simplify]: Simplify (* R 0) into 0 20.162 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 20.162 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 20.162 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi1 20.162 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi1 20.162 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi1 20.162 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 20.163 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 20.163 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 20.163 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 20.163 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 20.163 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.163 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.163 * [backup-simplify]: Simplify 0.5 into 0.5 20.163 * [taylor]: Taking taylor expansion of phi1 in phi1 20.163 * [backup-simplify]: Simplify 0 into 0 20.163 * [backup-simplify]: Simplify 1 into 1 20.163 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.163 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.164 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 20.164 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 20.164 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.164 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.164 * [backup-simplify]: Simplify 0.5 into 0.5 20.164 * [taylor]: Taking taylor expansion of phi2 in phi1 20.164 * [backup-simplify]: Simplify phi2 into phi2 20.164 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.164 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.164 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.164 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.164 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.164 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.164 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 20.164 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 20.164 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 20.164 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.165 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.165 * [backup-simplify]: Simplify 0.5 into 0.5 20.165 * [taylor]: Taking taylor expansion of phi1 in phi1 20.165 * [backup-simplify]: Simplify 0 into 0 20.165 * [backup-simplify]: Simplify 1 into 1 20.165 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.165 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.165 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 20.165 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 20.165 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.165 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.165 * [backup-simplify]: Simplify 0.5 into 0.5 20.165 * [taylor]: Taking taylor expansion of phi2 in phi1 20.165 * [backup-simplify]: Simplify phi2 into phi2 20.166 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.166 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.166 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.166 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.166 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.166 * [backup-simplify]: Simplify (- 0) into 0 20.166 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.167 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 20.167 * [taylor]: Taking taylor expansion of 2 in phi1 20.167 * [backup-simplify]: Simplify 2 into 2 20.167 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 20.167 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 20.167 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.167 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.167 * [backup-simplify]: Simplify 0.5 into 0.5 20.167 * [taylor]: Taking taylor expansion of phi1 in phi1 20.167 * [backup-simplify]: Simplify 0 into 0 20.167 * [backup-simplify]: Simplify 1 into 1 20.167 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.167 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.168 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 20.168 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 20.168 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 20.168 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.168 * [backup-simplify]: Simplify 0.5 into 0.5 20.168 * [taylor]: Taking taylor expansion of phi1 in phi1 20.168 * [backup-simplify]: Simplify 0 into 0 20.168 * [backup-simplify]: Simplify 1 into 1 20.168 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 20.168 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.168 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 20.168 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 20.168 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.168 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.169 * [backup-simplify]: Simplify 0.5 into 0.5 20.169 * [taylor]: Taking taylor expansion of phi2 in phi1 20.169 * [backup-simplify]: Simplify phi2 into phi2 20.169 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.169 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 20.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 20.169 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.169 * [backup-simplify]: Simplify 0.5 into 0.5 20.169 * [taylor]: Taking taylor expansion of phi2 in phi1 20.169 * [backup-simplify]: Simplify phi2 into phi2 20.169 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.169 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 20.170 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 20.170 * [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)) 20.170 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 20.170 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 20.171 * [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)) 20.172 * [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))) 20.172 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.172 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.172 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.172 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.172 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.173 * [backup-simplify]: Simplify (- 0) into 0 20.173 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.173 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 20.173 * [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)))) 20.174 * [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))))) 20.174 * [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)))))) 20.174 * [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))))))) 20.176 * [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))))))) 20.179 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 20.182 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 20.184 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 20.185 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 20.186 * [backup-simplify]: Simplify (+ 0) into 0 20.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.187 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.189 * [backup-simplify]: Simplify (+ 0 0) into 0 20.189 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 20.189 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 20.189 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 20.190 * [backup-simplify]: Simplify (+ 0) into 0 20.190 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.191 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.192 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.192 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.192 * [backup-simplify]: Simplify (- 0) into 0 20.193 * [backup-simplify]: Simplify (+ 0 0) into 0 20.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 20.194 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 20.194 * [backup-simplify]: Simplify (+ 0 0) into 0 20.195 * [backup-simplify]: Simplify (+ 0) into 0 20.195 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.196 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.197 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.197 * [backup-simplify]: Simplify (- 0) into 0 20.198 * [backup-simplify]: Simplify (+ 0 0) into 0 20.198 * [backup-simplify]: Simplify (+ 0) into 0 20.199 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.199 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.200 * [backup-simplify]: Simplify (+ 0 0) into 0 20.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 20.201 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.201 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 20.202 * [backup-simplify]: Simplify (- 0) into 0 20.202 * [backup-simplify]: Simplify (+ 0 0) into 0 20.203 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 20.205 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 20.207 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.208 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.209 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.211 * [backup-simplify]: Simplify (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 20.213 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.214 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.217 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 20.220 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (- (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) 20.224 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (- (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) 20.224 * [taylor]: Taking taylor expansion of (- (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) in R 20.224 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in R 20.224 * [taylor]: Taking taylor expansion of 2 in R 20.224 * [backup-simplify]: Simplify 2 into 2 20.224 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in R 20.224 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) in R 20.224 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in R 20.224 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 20.224 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.225 * [taylor]: Taking taylor expansion of 0.5 in R 20.225 * [backup-simplify]: Simplify 0.5 into 0.5 20.225 * [taylor]: Taking taylor expansion of phi1 in R 20.225 * [backup-simplify]: Simplify phi1 into phi1 20.225 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.225 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.225 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.225 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in R 20.225 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 20.225 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.225 * [taylor]: Taking taylor expansion of 0.5 in R 20.225 * [backup-simplify]: Simplify 0.5 into 0.5 20.225 * [taylor]: Taking taylor expansion of phi1 in R 20.225 * [backup-simplify]: Simplify phi1 into phi1 20.225 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.225 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.225 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.225 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in R 20.225 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 20.225 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.225 * [taylor]: Taking taylor expansion of 0.5 in R 20.225 * [backup-simplify]: Simplify 0.5 into 0.5 20.225 * [taylor]: Taking taylor expansion of phi2 in R 20.225 * [backup-simplify]: Simplify phi2 into phi2 20.225 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.225 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.225 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.225 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 20.225 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.225 * [taylor]: Taking taylor expansion of 0.5 in R 20.225 * [backup-simplify]: Simplify 0.5 into 0.5 20.225 * [taylor]: Taking taylor expansion of phi2 in R 20.225 * [backup-simplify]: Simplify phi2 into phi2 20.225 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.225 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.226 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.226 * [taylor]: Taking taylor expansion of R in R 20.226 * [backup-simplify]: Simplify 0 into 0 20.226 * [backup-simplify]: Simplify 1 into 1 20.226 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 20.226 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 20.226 * [backup-simplify]: Simplify (- 0) into 0 20.226 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 20.226 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 20.226 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 20.226 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 20.226 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.226 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.227 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.227 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.227 * [backup-simplify]: Simplify (- 0) into 0 20.227 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.227 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 20.227 * [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)))) 20.227 * [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))))) 20.228 * [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))))) 20.228 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in R 20.228 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in R 20.228 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in R 20.228 * [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 R 20.228 * [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 R 20.228 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in R 20.228 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R 20.228 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 20.228 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.228 * [taylor]: Taking taylor expansion of 0.5 in R 20.228 * [backup-simplify]: Simplify 0.5 into 0.5 20.228 * [taylor]: Taking taylor expansion of phi1 in R 20.228 * [backup-simplify]: Simplify phi1 into phi1 20.228 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.228 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.228 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 20.228 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 20.228 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 20.228 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R 20.228 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 20.228 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.228 * [taylor]: Taking taylor expansion of 0.5 in R 20.228 * [backup-simplify]: Simplify 0.5 into 0.5 20.228 * [taylor]: Taking taylor expansion of phi2 in R 20.228 * [backup-simplify]: Simplify phi2 into phi2 20.228 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.229 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.229 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.229 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.229 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.229 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in R 20.229 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R 20.229 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 20.229 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.229 * [taylor]: Taking taylor expansion of 0.5 in R 20.229 * [backup-simplify]: Simplify 0.5 into 0.5 20.229 * [taylor]: Taking taylor expansion of phi1 in R 20.229 * [backup-simplify]: Simplify phi1 into phi1 20.229 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.229 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.229 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 20.229 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 20.230 * [backup-simplify]: Simplify (- 0) into 0 20.230 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 20.230 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R 20.230 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 20.230 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.230 * [taylor]: Taking taylor expansion of 0.5 in R 20.230 * [backup-simplify]: Simplify 0.5 into 0.5 20.230 * [taylor]: Taking taylor expansion of phi2 in R 20.230 * [backup-simplify]: Simplify phi2 into phi2 20.230 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.230 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.230 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.230 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.230 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.230 * [backup-simplify]: Simplify (- 0) into 0 20.230 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.230 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in R 20.230 * [taylor]: Taking taylor expansion of 2 in R 20.230 * [backup-simplify]: Simplify 2 into 2 20.230 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in R 20.230 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 20.230 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.231 * [taylor]: Taking taylor expansion of 0.5 in R 20.231 * [backup-simplify]: Simplify 0.5 into 0.5 20.231 * [taylor]: Taking taylor expansion of phi1 in R 20.231 * [backup-simplify]: Simplify phi1 into phi1 20.231 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.231 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.231 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.231 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in R 20.231 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 20.231 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.231 * [taylor]: Taking taylor expansion of 0.5 in R 20.231 * [backup-simplify]: Simplify 0.5 into 0.5 20.231 * [taylor]: Taking taylor expansion of phi1 in R 20.231 * [backup-simplify]: Simplify phi1 into phi1 20.231 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.231 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.231 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.231 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in R 20.231 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 20.231 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.231 * [taylor]: Taking taylor expansion of 0.5 in R 20.231 * [backup-simplify]: Simplify 0.5 into 0.5 20.231 * [taylor]: Taking taylor expansion of phi2 in R 20.231 * [backup-simplify]: Simplify phi2 into phi2 20.231 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.231 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.231 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.231 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 20.231 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.231 * [taylor]: Taking taylor expansion of 0.5 in R 20.231 * [backup-simplify]: Simplify 0.5 into 0.5 20.231 * [taylor]: Taking taylor expansion of phi2 in R 20.231 * [backup-simplify]: Simplify phi2 into phi2 20.231 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.231 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.231 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.232 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 20.232 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 20.232 * [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)) 20.232 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 20.232 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 20.233 * [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)) 20.233 * [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))) 20.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 20.234 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 20.234 * [backup-simplify]: Simplify (- 0) into 0 20.234 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 20.234 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 20.234 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 20.235 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 20.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.235 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.236 * [backup-simplify]: Simplify (- 0) into 0 20.236 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.236 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 20.236 * [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)))) 20.236 * [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))))) 20.237 * [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)))))) 20.237 * [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))))))) 20.239 * [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))))))) 20.242 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 20.245 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 20.247 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 20.248 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 20.249 * [backup-simplify]: Simplify (+ 0) into 0 20.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.250 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.251 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.251 * [backup-simplify]: Simplify (+ 0 0) into 0 20.252 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 20.252 * [backup-simplify]: Simplify (+ 0) into 0 20.253 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.253 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.254 * [backup-simplify]: Simplify (+ 0 0) into 0 20.255 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 20.255 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 20.256 * [backup-simplify]: Simplify (+ 0) into 0 20.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.256 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.258 * [backup-simplify]: Simplify (- 0) into 0 20.259 * [backup-simplify]: Simplify (+ 0 0) into 0 20.259 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.259 * [backup-simplify]: Simplify (+ 0) into 0 20.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.261 * [backup-simplify]: Simplify (- 0) into 0 20.262 * [backup-simplify]: Simplify (+ 0 0) into 0 20.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 20.262 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 20.263 * [backup-simplify]: Simplify (+ 0 0) into 0 20.263 * [backup-simplify]: Simplify (+ 0) into 0 20.264 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.264 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.266 * [backup-simplify]: Simplify (- 0) into 0 20.266 * [backup-simplify]: Simplify (+ 0 0) into 0 20.266 * [backup-simplify]: Simplify (+ 0) into 0 20.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.267 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.268 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.269 * [backup-simplify]: Simplify (+ 0 0) into 0 20.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.269 * [backup-simplify]: Simplify (+ 0) into 0 20.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.270 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.271 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.271 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.272 * [backup-simplify]: Simplify (+ 0 0) into 0 20.272 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 20.272 * [backup-simplify]: Simplify (+ 0) into 0 20.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.273 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.274 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.274 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.275 * [backup-simplify]: Simplify (- 0) into 0 20.275 * [backup-simplify]: Simplify (+ 0 0) into 0 20.275 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.276 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 20.277 * [backup-simplify]: Simplify (- 0) into 0 20.277 * [backup-simplify]: Simplify (+ 0 0) into 0 20.280 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 20.283 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 20.286 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.288 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.288 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in R 20.288 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in R 20.288 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) in R 20.289 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in R 20.289 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R 20.289 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 20.289 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.289 * [taylor]: Taking taylor expansion of 0.5 in R 20.289 * [backup-simplify]: Simplify 0.5 into 0.5 20.289 * [taylor]: Taking taylor expansion of phi1 in R 20.289 * [backup-simplify]: Simplify phi1 into phi1 20.289 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.289 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.289 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.289 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 20.289 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 20.289 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 20.289 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R 20.289 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 20.289 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.289 * [taylor]: Taking taylor expansion of 0.5 in R 20.289 * [backup-simplify]: Simplify 0.5 into 0.5 20.290 * [taylor]: Taking taylor expansion of phi2 in R 20.290 * [backup-simplify]: Simplify phi2 into phi2 20.290 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.290 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.290 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.290 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.290 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.290 * [taylor]: Taking taylor expansion of R in R 20.290 * [backup-simplify]: Simplify 0 into 0 20.290 * [backup-simplify]: Simplify 1 into 1 20.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 20.291 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 20.291 * [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)) 20.291 * [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)) 20.291 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in R 20.291 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in R 20.292 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in R 20.292 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in R 20.292 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in R 20.292 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in R 20.292 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R 20.292 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 20.292 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.292 * [taylor]: Taking taylor expansion of 0.5 in R 20.292 * [backup-simplify]: Simplify 0.5 into 0.5 20.292 * [taylor]: Taking taylor expansion of phi1 in R 20.292 * [backup-simplify]: Simplify phi1 into phi1 20.292 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.292 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.292 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.292 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 20.292 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 20.292 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 20.293 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R 20.293 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 20.293 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.293 * [taylor]: Taking taylor expansion of 0.5 in R 20.293 * [backup-simplify]: Simplify 0.5 into 0.5 20.293 * [taylor]: Taking taylor expansion of phi2 in R 20.293 * [backup-simplify]: Simplify phi2 into phi2 20.293 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.293 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.293 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.293 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.293 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.293 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.293 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in R 20.293 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R 20.293 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 20.293 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.293 * [taylor]: Taking taylor expansion of 0.5 in R 20.293 * [backup-simplify]: Simplify 0.5 into 0.5 20.294 * [taylor]: Taking taylor expansion of phi1 in R 20.294 * [backup-simplify]: Simplify phi1 into phi1 20.294 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.294 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.294 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.294 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 20.294 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 20.299 * [backup-simplify]: Simplify (- 0) into 0 20.299 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 20.299 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R 20.299 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 20.299 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.299 * [taylor]: Taking taylor expansion of 0.5 in R 20.299 * [backup-simplify]: Simplify 0.5 into 0.5 20.299 * [taylor]: Taking taylor expansion of phi2 in R 20.299 * [backup-simplify]: Simplify phi2 into phi2 20.299 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.299 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.299 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.300 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.300 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.300 * [backup-simplify]: Simplify (- 0) into 0 20.300 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.300 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in R 20.300 * [taylor]: Taking taylor expansion of 2 in R 20.300 * [backup-simplify]: Simplify 2 into 2 20.300 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in R 20.301 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 20.301 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.301 * [taylor]: Taking taylor expansion of 0.5 in R 20.301 * [backup-simplify]: Simplify 0.5 into 0.5 20.301 * [taylor]: Taking taylor expansion of phi1 in R 20.301 * [backup-simplify]: Simplify phi1 into phi1 20.301 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.301 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.301 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.301 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in R 20.301 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 20.301 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.301 * [taylor]: Taking taylor expansion of 0.5 in R 20.301 * [backup-simplify]: Simplify 0.5 into 0.5 20.301 * [taylor]: Taking taylor expansion of phi1 in R 20.301 * [backup-simplify]: Simplify phi1 into phi1 20.301 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.301 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.301 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.301 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in R 20.301 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 20.301 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.301 * [taylor]: Taking taylor expansion of 0.5 in R 20.302 * [backup-simplify]: Simplify 0.5 into 0.5 20.302 * [taylor]: Taking taylor expansion of phi2 in R 20.302 * [backup-simplify]: Simplify phi2 into phi2 20.302 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.302 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.302 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.302 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 20.302 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.302 * [taylor]: Taking taylor expansion of 0.5 in R 20.302 * [backup-simplify]: Simplify 0.5 into 0.5 20.302 * [taylor]: Taking taylor expansion of phi2 in R 20.302 * [backup-simplify]: Simplify phi2 into phi2 20.302 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.302 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.302 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.302 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 20.303 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 20.303 * [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)) 20.303 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 20.303 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 20.304 * [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)) 20.307 * [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))) 20.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 20.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 20.308 * [backup-simplify]: Simplify (- 0) into 0 20.308 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 20.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 20.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 20.308 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 20.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.308 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.309 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.309 * [backup-simplify]: Simplify (- 0) into 0 20.309 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.309 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 20.310 * [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)))) 20.310 * [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))))) 20.310 * [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)))))) 20.311 * [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))))))) 20.312 * [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))))))) 20.316 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 20.319 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 20.321 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 20.322 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 20.323 * [backup-simplify]: Simplify (+ 0) into 0 20.324 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.324 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.325 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.325 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.326 * [backup-simplify]: Simplify (+ 0 0) into 0 20.326 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 20.326 * [backup-simplify]: Simplify (+ 0) into 0 20.327 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.327 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.328 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.328 * [backup-simplify]: Simplify (+ 0 0) into 0 20.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 20.329 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 20.329 * [backup-simplify]: Simplify (+ 0) into 0 20.330 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.330 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.332 * [backup-simplify]: Simplify (- 0) into 0 20.332 * [backup-simplify]: Simplify (+ 0 0) into 0 20.332 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.333 * [backup-simplify]: Simplify (+ 0) into 0 20.333 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.333 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.334 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.335 * [backup-simplify]: Simplify (- 0) into 0 20.335 * [backup-simplify]: Simplify (+ 0 0) into 0 20.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 20.336 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 20.336 * [backup-simplify]: Simplify (+ 0 0) into 0 20.337 * [backup-simplify]: Simplify (+ 0) into 0 20.337 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.337 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.339 * [backup-simplify]: Simplify (- 0) into 0 20.339 * [backup-simplify]: Simplify (+ 0 0) into 0 20.340 * [backup-simplify]: Simplify (+ 0) into 0 20.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.340 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.341 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.342 * [backup-simplify]: Simplify (+ 0 0) into 0 20.342 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.342 * [backup-simplify]: Simplify (+ 0) into 0 20.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.343 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.343 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.344 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.344 * [backup-simplify]: Simplify (+ 0 0) into 0 20.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 20.345 * [backup-simplify]: Simplify (+ 0) into 0 20.345 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.345 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.346 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.346 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.346 * [backup-simplify]: Simplify (- 0) into 0 20.347 * [backup-simplify]: Simplify (+ 0 0) into 0 20.347 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.347 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 20.348 * [backup-simplify]: Simplify (- 0) into 0 20.348 * [backup-simplify]: Simplify (+ 0 0) into 0 20.350 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 20.351 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 20.353 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.354 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.354 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in R 20.354 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) in R 20.354 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in R 20.354 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R 20.354 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 20.354 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.354 * [taylor]: Taking taylor expansion of 0.5 in R 20.354 * [backup-simplify]: Simplify 0.5 into 0.5 20.354 * [taylor]: Taking taylor expansion of phi1 in R 20.354 * [backup-simplify]: Simplify phi1 into phi1 20.355 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.355 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.355 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 20.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 20.355 * [backup-simplify]: Simplify (- 0) into 0 20.355 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 20.355 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R 20.355 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 20.355 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.355 * [taylor]: Taking taylor expansion of 0.5 in R 20.355 * [backup-simplify]: Simplify 0.5 into 0.5 20.356 * [taylor]: Taking taylor expansion of phi2 in R 20.356 * [backup-simplify]: Simplify phi2 into phi2 20.356 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.356 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.356 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.356 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.356 * [backup-simplify]: Simplify (- 0) into 0 20.356 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.356 * [taylor]: Taking taylor expansion of R in R 20.356 * [backup-simplify]: Simplify 0 into 0 20.356 * [backup-simplify]: Simplify 1 into 1 20.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 20.357 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 20.357 * [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)) 20.357 * [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)) 20.357 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in R 20.357 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in R 20.357 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in R 20.357 * [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 R 20.357 * [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 R 20.357 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in R 20.357 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R 20.357 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 20.357 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.357 * [taylor]: Taking taylor expansion of 0.5 in R 20.357 * [backup-simplify]: Simplify 0.5 into 0.5 20.357 * [taylor]: Taking taylor expansion of phi1 in R 20.357 * [backup-simplify]: Simplify phi1 into phi1 20.357 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.357 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.357 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.357 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 20.358 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 20.358 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 20.358 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R 20.358 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 20.358 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.358 * [taylor]: Taking taylor expansion of 0.5 in R 20.358 * [backup-simplify]: Simplify 0.5 into 0.5 20.358 * [taylor]: Taking taylor expansion of phi2 in R 20.358 * [backup-simplify]: Simplify phi2 into phi2 20.358 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.358 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.358 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.358 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.358 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.358 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.358 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in R 20.358 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R 20.358 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 20.358 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.358 * [taylor]: Taking taylor expansion of 0.5 in R 20.358 * [backup-simplify]: Simplify 0.5 into 0.5 20.358 * [taylor]: Taking taylor expansion of phi1 in R 20.358 * [backup-simplify]: Simplify phi1 into phi1 20.358 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.358 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.358 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.358 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 20.359 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 20.359 * [backup-simplify]: Simplify (- 0) into 0 20.359 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 20.359 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R 20.359 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 20.359 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.359 * [taylor]: Taking taylor expansion of 0.5 in R 20.359 * [backup-simplify]: Simplify 0.5 into 0.5 20.359 * [taylor]: Taking taylor expansion of phi2 in R 20.359 * [backup-simplify]: Simplify phi2 into phi2 20.359 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.359 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.359 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.359 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.359 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.360 * [backup-simplify]: Simplify (- 0) into 0 20.360 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.360 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in R 20.360 * [taylor]: Taking taylor expansion of 2 in R 20.360 * [backup-simplify]: Simplify 2 into 2 20.360 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in R 20.360 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 20.360 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.360 * [taylor]: Taking taylor expansion of 0.5 in R 20.360 * [backup-simplify]: Simplify 0.5 into 0.5 20.360 * [taylor]: Taking taylor expansion of phi1 in R 20.360 * [backup-simplify]: Simplify phi1 into phi1 20.360 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.360 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.360 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.360 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in R 20.360 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 20.360 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 20.360 * [taylor]: Taking taylor expansion of 0.5 in R 20.360 * [backup-simplify]: Simplify 0.5 into 0.5 20.360 * [taylor]: Taking taylor expansion of phi1 in R 20.360 * [backup-simplify]: Simplify phi1 into phi1 20.360 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 20.361 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 20.361 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 20.361 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in R 20.361 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 20.361 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.361 * [taylor]: Taking taylor expansion of 0.5 in R 20.361 * [backup-simplify]: Simplify 0.5 into 0.5 20.361 * [taylor]: Taking taylor expansion of phi2 in R 20.361 * [backup-simplify]: Simplify phi2 into phi2 20.361 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.361 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.361 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.361 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 20.361 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 20.361 * [taylor]: Taking taylor expansion of 0.5 in R 20.361 * [backup-simplify]: Simplify 0.5 into 0.5 20.361 * [taylor]: Taking taylor expansion of phi2 in R 20.361 * [backup-simplify]: Simplify phi2 into phi2 20.361 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 20.361 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 20.361 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 20.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 20.362 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 20.362 * [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)) 20.362 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 20.362 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 20.362 * [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)) 20.363 * [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))) 20.363 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 20.363 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 20.363 * [backup-simplify]: Simplify (- 0) into 0 20.363 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 20.363 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 20.363 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 20.363 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 20.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 20.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 20.364 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 20.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 20.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 20.364 * [backup-simplify]: Simplify (- 0) into 0 20.364 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 20.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 20.364 * [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)))) 20.365 * [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))))) 20.365 * [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)))))) 20.365 * [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))))))) 20.366 * [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))))))) 20.368 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) 20.369 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) 20.370 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) 20.371 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) 20.371 * [backup-simplify]: Simplify (+ 0) into 0 20.372 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.372 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.373 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.373 * [backup-simplify]: Simplify (+ 0 0) into 0 20.373 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 20.374 * [backup-simplify]: Simplify (+ 0) into 0 20.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.374 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.375 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.375 * [backup-simplify]: Simplify (+ 0 0) into 0 20.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 20.376 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 20.376 * [backup-simplify]: Simplify (+ 0) into 0 20.376 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.377 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.377 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.378 * [backup-simplify]: Simplify (- 0) into 0 20.378 * [backup-simplify]: Simplify (+ 0 0) into 0 20.378 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.378 * [backup-simplify]: Simplify (+ 0) into 0 20.379 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.379 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.380 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.380 * [backup-simplify]: Simplify (- 0) into 0 20.380 * [backup-simplify]: Simplify (+ 0 0) into 0 20.380 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 20.381 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 20.381 * [backup-simplify]: Simplify (+ 0 0) into 0 20.381 * [backup-simplify]: Simplify (+ 0) into 0 20.382 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.382 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.383 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.383 * [backup-simplify]: Simplify (- 0) into 0 20.383 * [backup-simplify]: Simplify (+ 0 0) into 0 20.383 * [backup-simplify]: Simplify (+ 0) into 0 20.384 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 20.384 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 20.384 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.385 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 20.385 * [backup-simplify]: Simplify (+ 0 0) into 0 20.385 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 20.385 * [backup-simplify]: Simplify (+ 0) into 0 20.386 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.386 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.387 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.387 * [backup-simplify]: Simplify (+ 0 0) into 0 20.387 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 20.387 * [backup-simplify]: Simplify (+ 0) into 0 20.388 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 20.388 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 20.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.389 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 20.389 * [backup-simplify]: Simplify (- 0) into 0 20.390 * [backup-simplify]: Simplify (+ 0 0) into 0 20.390 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.391 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 20.392 * [backup-simplify]: Simplify (- 0) into 0 20.392 * [backup-simplify]: Simplify (+ 0 0) into 0 20.395 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0 20.398 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0 20.402 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.404 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.407 * [backup-simplify]: Simplify (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.410 * [backup-simplify]: Simplify (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 20.412 * [backup-simplify]: Simplify (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.415 * [backup-simplify]: Simplify (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) into (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) 20.420 * [backup-simplify]: Simplify (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) 20.425 * [backup-simplify]: Simplify (- (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (- (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) 20.433 * [backup-simplify]: Simplify (+ (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (- (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into (- (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) 20.440 * [backup-simplify]: Simplify (- (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (- (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) 20.442 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.443 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.443 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.443 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.444 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.444 * [backup-simplify]: Simplify (+ 0 0) into 0 20.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.445 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.445 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.446 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.446 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.446 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.447 * [backup-simplify]: Simplify (+ 0 0) into 0 20.447 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.448 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 20.453 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.454 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.454 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.454 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.455 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.455 * [backup-simplify]: Simplify (- 0) into 0 20.455 * [backup-simplify]: Simplify (+ 0 0) into 0 20.456 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.456 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.457 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.457 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.458 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.458 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.458 * [backup-simplify]: Simplify (- 0) into 0 20.458 * [backup-simplify]: Simplify (+ 0 0) into 0 20.459 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.459 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.460 * [backup-simplify]: Simplify (+ 0 0) into 0 20.460 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.461 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.461 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.461 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.462 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.462 * [backup-simplify]: Simplify (- 0) into 0 20.462 * [backup-simplify]: Simplify (+ 0 0) into 0 20.463 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.463 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.463 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.464 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.464 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.464 * [backup-simplify]: Simplify (+ 0 0) into 0 20.465 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.465 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.466 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.467 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.467 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.467 * [backup-simplify]: Simplify (+ 0 0) into 0 20.468 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.468 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.469 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.469 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.469 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.470 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.470 * [backup-simplify]: Simplify (- 0) into 0 20.470 * [backup-simplify]: Simplify (+ 0 0) into 0 20.471 * [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 20.472 * [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 20.472 * [backup-simplify]: Simplify (- 0) into 0 20.472 * [backup-simplify]: Simplify (+ 0 0) into 0 20.475 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 20.476 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 20.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.477 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.477 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.478 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.478 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.478 * [backup-simplify]: Simplify (- 0) into 0 20.479 * [backup-simplify]: Simplify (+ 0 0) into 0 20.479 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.480 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.480 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.480 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.481 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.481 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.481 * [backup-simplify]: Simplify (- 0) into 0 20.482 * [backup-simplify]: Simplify (+ 0 0) into 0 20.482 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.482 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.483 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 20.483 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0 20.484 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 20.485 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 20.487 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) into 0 20.488 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.488 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.488 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.489 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.489 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.489 * [backup-simplify]: Simplify (+ 0 0) into 0 20.490 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.490 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.491 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.491 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.491 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.492 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.492 * [backup-simplify]: Simplify (+ 0 0) into 0 20.492 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.493 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 20.493 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.494 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.494 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.494 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.495 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.495 * [backup-simplify]: Simplify (- 0) into 0 20.495 * [backup-simplify]: Simplify (+ 0 0) into 0 20.496 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.496 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.497 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.497 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.497 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.498 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.498 * [backup-simplify]: Simplify (- 0) into 0 20.498 * [backup-simplify]: Simplify (+ 0 0) into 0 20.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.499 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.499 * [backup-simplify]: Simplify (+ 0 0) into 0 20.500 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.500 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.500 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.501 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.501 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.502 * [backup-simplify]: Simplify (- 0) into 0 20.502 * [backup-simplify]: Simplify (+ 0 0) into 0 20.502 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.503 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.503 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.504 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.504 * [backup-simplify]: Simplify (+ 0 0) into 0 20.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.505 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.505 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.506 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.506 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.507 * [backup-simplify]: Simplify (+ 0 0) into 0 20.507 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.508 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.508 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.509 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.509 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.509 * [backup-simplify]: Simplify (- 0) into 0 20.510 * [backup-simplify]: Simplify (+ 0 0) into 0 20.510 * [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 20.511 * [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 20.511 * [backup-simplify]: Simplify (- 0) into 0 20.511 * [backup-simplify]: Simplify (+ 0 0) into 0 20.514 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 20.515 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 20.516 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.516 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.517 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.517 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.518 * [backup-simplify]: Simplify (+ 0 0) into 0 20.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.519 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.519 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.520 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.521 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.521 * [backup-simplify]: Simplify (+ 0 0) into 0 20.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.522 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 20.523 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 20.523 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0 20.523 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 20.525 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 20.527 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) into 0 20.528 * [backup-simplify]: Simplify (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 20.529 * [backup-simplify]: Simplify (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 20.529 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.530 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.530 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.531 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.531 * [backup-simplify]: Simplify (+ 0 0) into 0 20.531 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.532 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.533 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.533 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.533 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.534 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.534 * [backup-simplify]: Simplify (+ 0 0) into 0 20.534 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.535 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 20.535 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.536 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.536 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.536 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.537 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.537 * [backup-simplify]: Simplify (- 0) into 0 20.537 * [backup-simplify]: Simplify (+ 0 0) into 0 20.538 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.538 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.539 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.539 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.539 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.540 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.540 * [backup-simplify]: Simplify (- 0) into 0 20.540 * [backup-simplify]: Simplify (+ 0 0) into 0 20.541 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.541 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.541 * [backup-simplify]: Simplify (+ 0 0) into 0 20.542 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.542 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.543 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.543 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.543 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.544 * [backup-simplify]: Simplify (- 0) into 0 20.544 * [backup-simplify]: Simplify (+ 0 0) into 0 20.544 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.545 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.545 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.546 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.546 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.546 * [backup-simplify]: Simplify (+ 0 0) into 0 20.546 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.547 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.552 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.552 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.553 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.554 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.554 * [backup-simplify]: Simplify (+ 0 0) into 0 20.554 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.555 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.555 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.555 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.556 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.556 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.557 * [backup-simplify]: Simplify (- 0) into 0 20.557 * [backup-simplify]: Simplify (+ 0 0) into 0 20.557 * [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 20.558 * [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 20.558 * [backup-simplify]: Simplify (- 0) into 0 20.558 * [backup-simplify]: Simplify (+ 0 0) into 0 20.560 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 20.562 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 20.565 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.567 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.568 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.568 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.569 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.569 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.570 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.570 * [backup-simplify]: Simplify (- 0) into 0 20.570 * [backup-simplify]: Simplify (+ 0 0) into 0 20.571 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.571 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.572 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.572 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.573 * [backup-simplify]: Simplify (+ 0 0) into 0 20.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.574 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 20.575 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.576 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.577 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.577 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.578 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.579 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.579 * [backup-simplify]: Simplify (- 0) into 0 20.580 * [backup-simplify]: Simplify (+ 0 0) into 0 20.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2)))))) into 0 20.582 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.583 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.584 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.584 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.585 * [backup-simplify]: Simplify (+ 0 0) into 0 20.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0 20.587 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))))) into 0 20.588 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 20.589 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 20.590 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 20.593 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 20.597 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ 0.5 phi1)) (* (pow (sin (/ 0.5 phi1)) 3) (* (pow (sin (/ 0.5 phi2)) 3) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into 0 20.599 * [backup-simplify]: Simplify (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ 1 (* (pow phi2 2) R)) (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)))))))))) 20.601 * [backup-simplify]: Simplify (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) 20.602 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.603 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.603 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.604 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.604 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.605 * [backup-simplify]: Simplify (+ 0 0) into 0 20.605 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.606 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.607 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.607 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.608 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.608 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.609 * [backup-simplify]: Simplify (+ 0 0) into 0 20.609 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.610 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 20.611 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.612 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.612 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.613 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.614 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.614 * [backup-simplify]: Simplify (- 0) into 0 20.614 * [backup-simplify]: Simplify (+ 0 0) into 0 20.615 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.616 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.617 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.617 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.618 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.619 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.619 * [backup-simplify]: Simplify (- 0) into 0 20.619 * [backup-simplify]: Simplify (+ 0 0) into 0 20.620 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.621 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.621 * [backup-simplify]: Simplify (+ 0 0) into 0 20.622 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.623 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.623 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.624 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.624 * [backup-simplify]: Simplify (- 0) into 0 20.625 * [backup-simplify]: Simplify (+ 0 0) into 0 20.626 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.626 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.627 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.627 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.628 * [backup-simplify]: Simplify (+ 0 0) into 0 20.629 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.630 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.631 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.631 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.632 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.632 * [backup-simplify]: Simplify (+ 0 0) into 0 20.633 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.634 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.635 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.635 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.635 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.636 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.637 * [backup-simplify]: Simplify (- 0) into 0 20.637 * [backup-simplify]: Simplify (+ 0 0) into 0 20.638 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 20.639 * [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 20.639 * [backup-simplify]: Simplify (- 0) into 0 20.639 * [backup-simplify]: Simplify (+ 0 0) into 0 20.642 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 20.646 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 20.650 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.653 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.654 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.655 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.655 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.655 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.656 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.656 * [backup-simplify]: Simplify (- 0) into 0 20.657 * [backup-simplify]: Simplify (+ 0 0) into 0 20.657 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.658 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.659 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.660 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.661 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.661 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.661 * [backup-simplify]: Simplify (+ 0 0) into 0 20.662 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 3)))) into 0 20.663 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.664 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.664 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.665 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.665 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.666 * [backup-simplify]: Simplify (- 0) into 0 20.666 * [backup-simplify]: Simplify (+ 0 0) into 0 20.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.668 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0 20.669 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3))))) into 0 20.669 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.670 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.670 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.671 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.672 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.672 * [backup-simplify]: Simplify (+ 0 0) into 0 20.673 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))))) into 0 20.674 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 20.675 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 20.676 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 20.679 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 20.683 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 3) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 3)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into 0 20.685 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 0) into (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) 20.687 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) 20.691 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (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)))))))))))) 20.696 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) into (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (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)))))))))))) 20.700 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) into (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (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)))))))))))) 20.708 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.709 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.709 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.710 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.711 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.712 * [backup-simplify]: Simplify (+ 0 0) into 0 20.712 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.713 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.714 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.714 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.715 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.716 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.716 * [backup-simplify]: Simplify (+ 0 0) into 0 20.717 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.717 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 20.719 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.719 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.720 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.721 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.722 * [backup-simplify]: Simplify (- 0) into 0 20.722 * [backup-simplify]: Simplify (+ 0 0) into 0 20.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.724 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.725 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.726 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.727 * [backup-simplify]: Simplify (- 0) into 0 20.727 * [backup-simplify]: Simplify (+ 0 0) into 0 20.728 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.729 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.729 * [backup-simplify]: Simplify (+ 0 0) into 0 20.731 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.732 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.732 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.733 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.734 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.734 * [backup-simplify]: Simplify (- 0) into 0 20.735 * [backup-simplify]: Simplify (+ 0 0) into 0 20.736 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.737 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.737 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.738 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.738 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.739 * [backup-simplify]: Simplify (+ 0 0) into 0 20.739 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.740 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.741 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.741 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.742 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.743 * [backup-simplify]: Simplify (+ 0 0) into 0 20.744 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.745 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.745 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.746 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.746 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.747 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.747 * [backup-simplify]: Simplify (- 0) into 0 20.748 * [backup-simplify]: Simplify (+ 0 0) into 0 20.749 * [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 20.750 * [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 20.750 * [backup-simplify]: Simplify (- 0) into 0 20.751 * [backup-simplify]: Simplify (+ 0 0) into 0 20.754 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 20.758 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 20.764 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.767 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.768 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.769 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.770 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.771 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.771 * [backup-simplify]: Simplify (+ 0 0) into 0 20.772 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.773 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 20.774 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.775 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.775 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.776 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.777 * [backup-simplify]: Simplify (+ 0 0) into 0 20.778 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.779 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0 20.780 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 4)))) into 0 20.781 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 20.782 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0 20.783 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 20.786 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 20.789 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ 0.5 phi1)) 4) (pow (sin (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into 0 20.791 * [backup-simplify]: Simplify (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 20.793 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.794 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.794 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.795 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.795 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.796 * [backup-simplify]: Simplify (+ 0 0) into 0 20.797 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.798 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.799 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.799 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.800 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.800 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.801 * [backup-simplify]: Simplify (+ 0 0) into 0 20.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.802 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 20.803 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.804 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.805 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.806 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.807 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.807 * [backup-simplify]: Simplify (- 0) into 0 20.808 * [backup-simplify]: Simplify (+ 0 0) into 0 20.809 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.810 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.811 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.812 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.812 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.813 * [backup-simplify]: Simplify (- 0) into 0 20.813 * [backup-simplify]: Simplify (+ 0 0) into 0 20.814 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.815 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.815 * [backup-simplify]: Simplify (+ 0 0) into 0 20.816 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.817 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.817 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.818 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.819 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.819 * [backup-simplify]: Simplify (- 0) into 0 20.819 * [backup-simplify]: Simplify (+ 0 0) into 0 20.820 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.821 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.821 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.822 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.823 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.823 * [backup-simplify]: Simplify (+ 0 0) into 0 20.824 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.825 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.826 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.826 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.827 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.827 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.828 * [backup-simplify]: Simplify (+ 0 0) into 0 20.828 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.829 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.830 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.831 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.831 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.832 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.832 * [backup-simplify]: Simplify (- 0) into 0 20.833 * [backup-simplify]: Simplify (+ 0 0) into 0 20.834 * [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 20.835 * [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 20.835 * [backup-simplify]: Simplify (- 0) into 0 20.836 * [backup-simplify]: Simplify (+ 0 0) into 0 20.840 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 20.843 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 20.849 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.852 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.853 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.853 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.854 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.855 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.855 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.856 * [backup-simplify]: Simplify (- 0) into 0 20.856 * [backup-simplify]: Simplify (+ 0 0) into 0 20.856 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.857 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.858 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.858 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.858 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.859 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.859 * [backup-simplify]: Simplify (+ 0 0) into 0 20.859 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.860 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.860 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.861 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.861 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.861 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.862 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.862 * [backup-simplify]: Simplify (- 0) into 0 20.862 * [backup-simplify]: Simplify (+ 0 0) into 0 20.863 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.863 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2))))) into 0 20.864 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.864 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.865 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.865 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.865 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.866 * [backup-simplify]: Simplify (+ 0 0) into 0 20.866 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.867 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))))) into 0 20.867 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 20.868 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 20.868 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 20.870 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 20.872 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (/ 0.5 phi2)) 2)))) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into 0 20.879 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.880 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.881 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.881 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.881 * [backup-simplify]: Simplify (+ 0 0) into 0 20.882 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.883 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.883 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.883 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.884 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.884 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.885 * [backup-simplify]: Simplify (+ 0 0) into 0 20.885 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.886 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 20.887 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.888 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.890 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.890 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.891 * [backup-simplify]: Simplify (- 0) into 0 20.891 * [backup-simplify]: Simplify (+ 0 0) into 0 20.892 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.893 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.893 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.894 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.894 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.895 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.895 * [backup-simplify]: Simplify (- 0) into 0 20.896 * [backup-simplify]: Simplify (+ 0 0) into 0 20.896 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.897 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.898 * [backup-simplify]: Simplify (+ 0 0) into 0 20.899 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.900 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.900 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.901 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.902 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.902 * [backup-simplify]: Simplify (- 0) into 0 20.903 * [backup-simplify]: Simplify (+ 0 0) into 0 20.904 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.904 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.905 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.906 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.906 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.907 * [backup-simplify]: Simplify (+ 0 0) into 0 20.907 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.908 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.909 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.909 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.910 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.911 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.912 * [backup-simplify]: Simplify (+ 0 0) into 0 20.912 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.914 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.914 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.915 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.915 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.916 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.917 * [backup-simplify]: Simplify (- 0) into 0 20.917 * [backup-simplify]: Simplify (+ 0 0) into 0 20.918 * [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 20.919 * [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 20.919 * [backup-simplify]: Simplify (- 0) into 0 20.920 * [backup-simplify]: Simplify (+ 0 0) into 0 20.922 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 20.924 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 20.924 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.925 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.925 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.925 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.926 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.926 * [backup-simplify]: Simplify (- 0) into 0 20.926 * [backup-simplify]: Simplify (+ 0 0) into 0 20.927 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.927 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.927 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.928 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.928 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.928 * [backup-simplify]: Simplify (+ 0 0) into 0 20.929 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.929 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.930 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.930 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.930 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.931 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.931 * [backup-simplify]: Simplify (- 0) into 0 20.931 * [backup-simplify]: Simplify (+ 0 0) into 0 20.932 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.932 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.933 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.933 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.933 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.934 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.934 * [backup-simplify]: Simplify (+ 0 0) into 0 20.935 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 20.935 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 20.935 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 20.936 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 20.937 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 20.938 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.938 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.938 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.939 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.939 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.940 * [backup-simplify]: Simplify (+ 0 0) into 0 20.940 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 20.941 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.941 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.941 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.942 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.942 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.942 * [backup-simplify]: Simplify (+ 0 0) into 0 20.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 20.943 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 20.944 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.944 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.944 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.945 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.945 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.945 * [backup-simplify]: Simplify (- 0) into 0 20.946 * [backup-simplify]: Simplify (+ 0 0) into 0 20.946 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.947 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.947 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.948 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.948 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.948 * [backup-simplify]: Simplify (- 0) into 0 20.949 * [backup-simplify]: Simplify (+ 0 0) into 0 20.949 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.950 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.950 * [backup-simplify]: Simplify (+ 0 0) into 0 20.950 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.951 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.951 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.952 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.952 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.952 * [backup-simplify]: Simplify (- 0) into 0 20.953 * [backup-simplify]: Simplify (+ 0 0) into 0 20.953 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.954 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.954 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.954 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.955 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.955 * [backup-simplify]: Simplify (+ 0 0) into 0 20.955 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.956 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.956 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.956 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.957 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.957 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.958 * [backup-simplify]: Simplify (+ 0 0) into 0 20.958 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 20.959 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.959 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.960 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.961 * [backup-simplify]: Simplify (- 0) into 0 20.961 * [backup-simplify]: Simplify (+ 0 0) into 0 20.962 * [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 20.963 * [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 20.964 * [backup-simplify]: Simplify (- 0) into 0 20.964 * [backup-simplify]: Simplify (+ 0 0) into 0 20.968 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 20.972 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)))) into 0 20.977 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (* 0 (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.980 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0 20.982 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.983 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 20.983 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 20.984 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.985 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 20.985 * [backup-simplify]: Simplify (- 0) into 0 20.986 * [backup-simplify]: Simplify (+ 0 0) into 0 20.986 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 20.987 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 20.988 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 20.989 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 20.989 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 20.990 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 20.991 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 20.991 * [backup-simplify]: Simplify (- 0) into 0 20.992 * [backup-simplify]: Simplify (+ 0 0) into 0 20.992 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 20.993 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0 20.994 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 4)))) into 0 20.995 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 20.996 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 R))) into 0 20.997 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 20.999 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into 0 21.003 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ 0.5 phi1)) 4) (pow (cos (/ 0.5 phi2)) 4)) R) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))))) into 0 21.003 * [backup-simplify]: Simplify (+ 0 0) into 0 21.004 * [backup-simplify]: Simplify (+ 0 0) into 0 21.006 * [backup-simplify]: Simplify (+ (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 0) into (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 21.008 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 21.009 * [backup-simplify]: Simplify (- (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 21.016 * [backup-simplify]: Simplify (+ (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (- (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 21.016 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2 21.016 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) in phi2 21.016 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2 21.016 * [taylor]: Taking taylor expansion of 1/2 in phi2 21.016 * [backup-simplify]: Simplify 1/2 into 1/2 21.016 * [taylor]: Taking taylor expansion of (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2 21.017 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) R)) in phi2 21.017 * [taylor]: Taking taylor expansion of (* (pow phi2 2) R) in phi2 21.017 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 21.017 * [taylor]: Taking taylor expansion of phi2 in phi2 21.017 * [backup-simplify]: Simplify 0 into 0 21.017 * [backup-simplify]: Simplify 1 into 1 21.017 * [taylor]: Taking taylor expansion of R in phi2 21.017 * [backup-simplify]: Simplify R into R 21.017 * [backup-simplify]: Simplify (* 1 1) into 1 21.017 * [backup-simplify]: Simplify (* 1 R) into R 21.017 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 21.018 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 21.018 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 21.018 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 21.018 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 21.018 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 21.018 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 21.018 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 21.018 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.018 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.018 * [backup-simplify]: Simplify 0.5 into 0.5 21.018 * [taylor]: Taking taylor expansion of phi1 in phi2 21.018 * [backup-simplify]: Simplify phi1 into phi1 21.018 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.018 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.018 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.018 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.018 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.019 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.019 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 21.019 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 21.019 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.019 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.019 * [backup-simplify]: Simplify 0.5 into 0.5 21.019 * [taylor]: Taking taylor expansion of phi2 in phi2 21.019 * [backup-simplify]: Simplify 0 into 0 21.019 * [backup-simplify]: Simplify 1 into 1 21.026 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.026 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.026 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 21.026 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 21.026 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 21.026 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.026 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.026 * [backup-simplify]: Simplify 0.5 into 0.5 21.026 * [taylor]: Taking taylor expansion of phi1 in phi2 21.026 * [backup-simplify]: Simplify phi1 into phi1 21.026 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.026 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.026 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.027 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.027 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.027 * [backup-simplify]: Simplify (- 0) into 0 21.027 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.027 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 21.028 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 21.028 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.028 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.028 * [backup-simplify]: Simplify 0.5 into 0.5 21.028 * [taylor]: Taking taylor expansion of phi2 in phi2 21.028 * [backup-simplify]: Simplify 0 into 0 21.028 * [backup-simplify]: Simplify 1 into 1 21.028 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.028 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.028 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 21.028 * [taylor]: Taking taylor expansion of 2 in phi2 21.028 * [backup-simplify]: Simplify 2 into 2 21.028 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 21.029 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 21.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.029 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.029 * [backup-simplify]: Simplify 0.5 into 0.5 21.029 * [taylor]: Taking taylor expansion of phi1 in phi2 21.029 * [backup-simplify]: Simplify phi1 into phi1 21.029 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.029 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.029 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.029 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 21.029 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 21.029 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.029 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.029 * [backup-simplify]: Simplify 0.5 into 0.5 21.029 * [taylor]: Taking taylor expansion of phi1 in phi2 21.029 * [backup-simplify]: Simplify phi1 into phi1 21.029 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.029 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.029 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.029 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 21.030 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 21.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.030 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.030 * [backup-simplify]: Simplify 0.5 into 0.5 21.030 * [taylor]: Taking taylor expansion of phi2 in phi2 21.030 * [backup-simplify]: Simplify 0 into 0 21.030 * [backup-simplify]: Simplify 1 into 1 21.030 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.030 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.030 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 21.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.030 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.030 * [backup-simplify]: Simplify 0.5 into 0.5 21.031 * [taylor]: Taking taylor expansion of phi2 in phi2 21.031 * [backup-simplify]: Simplify 0 into 0 21.031 * [backup-simplify]: Simplify 1 into 1 21.031 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.031 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.031 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 21.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 21.032 * [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)) 21.032 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 21.032 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 21.033 * [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)) 21.034 * [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))) 21.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.034 * [backup-simplify]: Simplify (- 0) into 0 21.034 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.035 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.035 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.035 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 21.035 * [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)))) 21.035 * [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))))) 21.036 * [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)))))) 21.036 * [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))))))) 21.038 * [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))))))) 21.039 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 21.041 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 21.042 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 21.042 * [backup-simplify]: Simplify (+ 0) into 0 21.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.043 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.045 * [backup-simplify]: Simplify (+ 0 0) into 0 21.045 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 21.045 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 21.046 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.046 * [backup-simplify]: Simplify (+ 0) into 0 21.047 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.047 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.049 * [backup-simplify]: Simplify (- 0) into 0 21.049 * [backup-simplify]: Simplify (+ 0 0) into 0 21.049 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 21.050 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 21.050 * [backup-simplify]: Simplify (+ 0 0) into 0 21.051 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.051 * [backup-simplify]: Simplify (+ 0) into 0 21.052 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.052 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.053 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.054 * [backup-simplify]: Simplify (+ 0 0) into 0 21.054 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 21.054 * [backup-simplify]: Simplify (+ 0) into 0 21.055 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.055 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.056 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.057 * [backup-simplify]: Simplify (- 0) into 0 21.057 * [backup-simplify]: Simplify (+ 0 0) into 0 21.057 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.058 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 21.058 * [backup-simplify]: Simplify (- 0) into 0 21.058 * [backup-simplify]: Simplify (+ 0 0) into 0 21.060 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.061 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.061 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2 21.061 * [taylor]: Taking taylor expansion of 1/2 in phi2 21.061 * [backup-simplify]: Simplify 1/2 into 1/2 21.061 * [taylor]: Taking taylor expansion of (* (/ 1 (* (pow phi1 2) R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2 21.061 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) R)) in phi2 21.061 * [taylor]: Taking taylor expansion of (* (pow phi1 2) R) in phi2 21.061 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 21.061 * [taylor]: Taking taylor expansion of phi1 in phi2 21.061 * [backup-simplify]: Simplify phi1 into phi1 21.061 * [taylor]: Taking taylor expansion of R in phi2 21.061 * [backup-simplify]: Simplify R into R 21.061 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.061 * [backup-simplify]: Simplify (* (pow phi1 2) R) into (* R (pow phi1 2)) 21.061 * [backup-simplify]: Simplify (/ 1 (* R (pow phi1 2))) into (/ 1 (* R (pow phi1 2))) 21.061 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 21.061 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 21.062 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 21.062 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 21.062 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 21.062 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 21.062 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 21.062 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.062 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.062 * [backup-simplify]: Simplify 0.5 into 0.5 21.062 * [taylor]: Taking taylor expansion of phi1 in phi2 21.062 * [backup-simplify]: Simplify phi1 into phi1 21.062 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.062 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.062 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.062 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.062 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.062 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.062 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 21.062 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 21.062 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.062 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.062 * [backup-simplify]: Simplify 0.5 into 0.5 21.062 * [taylor]: Taking taylor expansion of phi2 in phi2 21.062 * [backup-simplify]: Simplify 0 into 0 21.062 * [backup-simplify]: Simplify 1 into 1 21.063 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.063 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.063 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 21.063 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 21.063 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 21.063 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.063 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.063 * [backup-simplify]: Simplify 0.5 into 0.5 21.063 * [taylor]: Taking taylor expansion of phi1 in phi2 21.063 * [backup-simplify]: Simplify phi1 into phi1 21.063 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.063 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.063 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.063 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.063 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.064 * [backup-simplify]: Simplify (- 0) into 0 21.064 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.064 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 21.064 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 21.064 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.064 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.064 * [backup-simplify]: Simplify 0.5 into 0.5 21.064 * [taylor]: Taking taylor expansion of phi2 in phi2 21.064 * [backup-simplify]: Simplify 0 into 0 21.064 * [backup-simplify]: Simplify 1 into 1 21.064 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.064 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.064 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 21.064 * [taylor]: Taking taylor expansion of 2 in phi2 21.064 * [backup-simplify]: Simplify 2 into 2 21.064 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 21.064 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 21.064 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.064 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.064 * [backup-simplify]: Simplify 0.5 into 0.5 21.064 * [taylor]: Taking taylor expansion of phi1 in phi2 21.064 * [backup-simplify]: Simplify phi1 into phi1 21.064 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.065 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.065 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.065 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 21.065 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 21.065 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.065 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.065 * [backup-simplify]: Simplify 0.5 into 0.5 21.065 * [taylor]: Taking taylor expansion of phi1 in phi2 21.065 * [backup-simplify]: Simplify phi1 into phi1 21.065 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.065 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.065 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.065 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 21.065 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 21.065 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.065 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.065 * [backup-simplify]: Simplify 0.5 into 0.5 21.065 * [taylor]: Taking taylor expansion of phi2 in phi2 21.065 * [backup-simplify]: Simplify 0 into 0 21.065 * [backup-simplify]: Simplify 1 into 1 21.065 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.065 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.065 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 21.065 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.065 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.066 * [backup-simplify]: Simplify 0.5 into 0.5 21.066 * [taylor]: Taking taylor expansion of phi2 in phi2 21.066 * [backup-simplify]: Simplify 0 into 0 21.066 * [backup-simplify]: Simplify 1 into 1 21.066 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.066 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.066 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 21.066 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 21.066 * [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)) 21.067 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 21.067 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 21.067 * [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)) 21.067 * [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))) 21.067 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.067 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.068 * [backup-simplify]: Simplify (- 0) into 0 21.068 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.068 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.068 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.068 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.068 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 21.068 * [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)))) 21.068 * [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))))) 21.069 * [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)))))) 21.069 * [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))))))) 21.070 * [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))))))) 21.071 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 21.072 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 21.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 21.072 * [backup-simplify]: Simplify (+ 0) into 0 21.072 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.073 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.073 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.074 * [backup-simplify]: Simplify (+ 0 0) into 0 21.074 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 21.074 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 21.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.075 * [backup-simplify]: Simplify (+ 0) into 0 21.075 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.075 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.077 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.077 * [backup-simplify]: Simplify (- 0) into 0 21.077 * [backup-simplify]: Simplify (+ 0 0) into 0 21.077 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 21.078 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 21.078 * [backup-simplify]: Simplify (+ 0 0) into 0 21.078 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.078 * [backup-simplify]: Simplify (+ 0) into 0 21.079 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.079 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.080 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.080 * [backup-simplify]: Simplify (+ 0 0) into 0 21.080 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 21.081 * [backup-simplify]: Simplify (+ 0) into 0 21.081 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.081 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.082 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.082 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.082 * [backup-simplify]: Simplify (- 0) into 0 21.082 * [backup-simplify]: Simplify (+ 0 0) into 0 21.083 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.083 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 21.083 * [backup-simplify]: Simplify (- 0) into 0 21.084 * [backup-simplify]: Simplify (+ 0 0) into 0 21.085 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.086 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.086 * [taylor]: Taking taylor expansion of (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2 21.086 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* R phi1))) in phi2 21.086 * [taylor]: Taking taylor expansion of (* phi2 (* R phi1)) in phi2 21.086 * [taylor]: Taking taylor expansion of phi2 in phi2 21.086 * [backup-simplify]: Simplify 0 into 0 21.086 * [backup-simplify]: Simplify 1 into 1 21.087 * [taylor]: Taking taylor expansion of (* R phi1) in phi2 21.087 * [taylor]: Taking taylor expansion of R in phi2 21.087 * [backup-simplify]: Simplify R into R 21.087 * [taylor]: Taking taylor expansion of phi1 in phi2 21.087 * [backup-simplify]: Simplify phi1 into phi1 21.087 * [backup-simplify]: Simplify (* R phi1) into (* phi1 R) 21.087 * [backup-simplify]: Simplify (* 0 (* phi1 R)) into 0 21.087 * [backup-simplify]: Simplify (+ (* R 0) (* 0 phi1)) into 0 21.087 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 R))) into (* R phi1) 21.087 * [backup-simplify]: Simplify (/ 1 (* R phi1)) into (/ 1 (* R phi1)) 21.087 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2 21.087 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2 21.087 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2 21.087 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2 21.087 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 21.087 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 21.087 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 21.087 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.087 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.087 * [backup-simplify]: Simplify 0.5 into 0.5 21.087 * [taylor]: Taking taylor expansion of phi1 in phi2 21.088 * [backup-simplify]: Simplify phi1 into phi1 21.088 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.088 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.088 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.088 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.088 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.088 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.088 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 21.088 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 21.088 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.088 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.088 * [backup-simplify]: Simplify 0.5 into 0.5 21.088 * [taylor]: Taking taylor expansion of phi2 in phi2 21.088 * [backup-simplify]: Simplify 0 into 0 21.088 * [backup-simplify]: Simplify 1 into 1 21.088 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.088 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.088 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 21.088 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 21.088 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 21.089 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.089 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.089 * [backup-simplify]: Simplify 0.5 into 0.5 21.089 * [taylor]: Taking taylor expansion of phi1 in phi2 21.089 * [backup-simplify]: Simplify phi1 into phi1 21.089 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.089 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.089 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.089 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.089 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.089 * [backup-simplify]: Simplify (- 0) into 0 21.089 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.089 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 21.089 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 21.089 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.089 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.089 * [backup-simplify]: Simplify 0.5 into 0.5 21.089 * [taylor]: Taking taylor expansion of phi2 in phi2 21.089 * [backup-simplify]: Simplify 0 into 0 21.089 * [backup-simplify]: Simplify 1 into 1 21.090 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.090 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.090 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2 21.090 * [taylor]: Taking taylor expansion of 2 in phi2 21.090 * [backup-simplify]: Simplify 2 into 2 21.090 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2 21.090 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 21.090 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.090 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.090 * [backup-simplify]: Simplify 0.5 into 0.5 21.090 * [taylor]: Taking taylor expansion of phi1 in phi2 21.090 * [backup-simplify]: Simplify phi1 into phi1 21.090 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.090 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.090 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.090 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2 21.090 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 21.090 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 21.090 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.090 * [backup-simplify]: Simplify 0.5 into 0.5 21.090 * [taylor]: Taking taylor expansion of phi1 in phi2 21.090 * [backup-simplify]: Simplify phi1 into phi1 21.090 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.090 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.090 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.090 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2 21.090 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 21.090 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.090 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.090 * [backup-simplify]: Simplify 0.5 into 0.5 21.090 * [taylor]: Taking taylor expansion of phi2 in phi2 21.090 * [backup-simplify]: Simplify 0 into 0 21.090 * [backup-simplify]: Simplify 1 into 1 21.091 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.091 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.091 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 21.091 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 21.091 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.091 * [backup-simplify]: Simplify 0.5 into 0.5 21.091 * [taylor]: Taking taylor expansion of phi2 in phi2 21.091 * [backup-simplify]: Simplify 0 into 0 21.091 * [backup-simplify]: Simplify 1 into 1 21.091 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.091 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.091 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 21.092 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 21.092 * [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)) 21.092 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 21.092 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 21.092 * [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)) 21.093 * [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))) 21.093 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.093 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.093 * [backup-simplify]: Simplify (- 0) into 0 21.093 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.093 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.093 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.093 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.093 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 21.094 * [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)))) 21.094 * [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))))) 21.094 * [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)))))) 21.094 * [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))))))) 21.095 * [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))))))) 21.096 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 21.097 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 21.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 21.097 * [backup-simplify]: Simplify (+ 0) into 0 21.098 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.098 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.099 * [backup-simplify]: Simplify (+ 0 0) into 0 21.099 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 21.099 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 21.099 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.099 * [backup-simplify]: Simplify (+ 0) into 0 21.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.100 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.100 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.101 * [backup-simplify]: Simplify (- 0) into 0 21.101 * [backup-simplify]: Simplify (+ 0 0) into 0 21.101 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 21.102 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 21.102 * [backup-simplify]: Simplify (+ 0 0) into 0 21.102 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.102 * [backup-simplify]: Simplify (+ 0) into 0 21.102 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.103 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.103 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.103 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.104 * [backup-simplify]: Simplify (+ 0 0) into 0 21.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 21.104 * [backup-simplify]: Simplify (+ 0) into 0 21.104 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.105 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.106 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.106 * [backup-simplify]: Simplify (- 0) into 0 21.106 * [backup-simplify]: Simplify (+ 0 0) into 0 21.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.107 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 21.107 * [backup-simplify]: Simplify (- 0) into 0 21.108 * [backup-simplify]: Simplify (+ 0 0) into 0 21.109 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.110 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.111 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.111 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 21.111 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0 21.112 * [backup-simplify]: Simplify (+ (* (/ 1 R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.113 * [backup-simplify]: Simplify (* (/ 1 R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 R)) 21.114 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 R)))) into 0 21.115 * [backup-simplify]: Simplify (+ 0 0) into 0 21.115 * [backup-simplify]: Simplify (* (/ 1 (* R phi1)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ 1 (* phi1 R)) (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)))))))))) 21.117 * [backup-simplify]: Simplify (- (* (/ 1 (* phi1 R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* (/ 1 (* R phi1)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 21.119 * [backup-simplify]: Simplify (+ 0 (- (* (/ 1 (* R phi1)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (* (/ 1 (* phi1 R)) (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))))))))))) 21.119 * [taylor]: Taking taylor expansion of (- (* (/ 1 (* phi1 R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1 21.119 * [taylor]: Taking taylor expansion of (* (/ 1 (* phi1 R)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1 21.119 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 R)) in phi1 21.119 * [taylor]: Taking taylor expansion of (* phi1 R) in phi1 21.119 * [taylor]: Taking taylor expansion of phi1 in phi1 21.119 * [backup-simplify]: Simplify 0 into 0 21.119 * [backup-simplify]: Simplify 1 into 1 21.119 * [taylor]: Taking taylor expansion of R in phi1 21.119 * [backup-simplify]: Simplify R into R 21.119 * [backup-simplify]: Simplify (* 0 R) into 0 21.120 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 21.120 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 21.120 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1 21.120 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1 21.120 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1 21.120 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1 21.120 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 21.120 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 21.120 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 21.120 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 21.120 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.120 * [backup-simplify]: Simplify 0.5 into 0.5 21.120 * [taylor]: Taking taylor expansion of phi1 in phi1 21.120 * [backup-simplify]: Simplify 0 into 0 21.120 * [backup-simplify]: Simplify 1 into 1 21.121 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.121 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.121 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 21.121 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 21.121 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 21.121 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.121 * [backup-simplify]: Simplify 0.5 into 0.5 21.121 * [taylor]: Taking taylor expansion of phi2 in phi1 21.121 * [backup-simplify]: Simplify phi2 into phi2 21.121 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.121 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.121 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.122 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.122 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.122 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 21.122 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 21.122 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 21.122 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 21.122 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.122 * [backup-simplify]: Simplify 0.5 into 0.5 21.122 * [taylor]: Taking taylor expansion of phi1 in phi1 21.122 * [backup-simplify]: Simplify 0 into 0 21.122 * [backup-simplify]: Simplify 1 into 1 21.123 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.123 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.123 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 21.123 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 21.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 21.123 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.123 * [backup-simplify]: Simplify 0.5 into 0.5 21.123 * [taylor]: Taking taylor expansion of phi2 in phi1 21.123 * [backup-simplify]: Simplify phi2 into phi2 21.123 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.123 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.123 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.123 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.123 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.124 * [backup-simplify]: Simplify (- 0) into 0 21.124 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.124 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1 21.124 * [taylor]: Taking taylor expansion of 2 in phi1 21.124 * [backup-simplify]: Simplify 2 into 2 21.124 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1 21.124 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 21.124 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 21.124 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.124 * [backup-simplify]: Simplify 0.5 into 0.5 21.124 * [taylor]: Taking taylor expansion of phi1 in phi1 21.124 * [backup-simplify]: Simplify 0 into 0 21.124 * [backup-simplify]: Simplify 1 into 1 21.125 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.125 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.125 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1 21.125 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 21.125 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 21.125 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.125 * [backup-simplify]: Simplify 0.5 into 0.5 21.125 * [taylor]: Taking taylor expansion of phi1 in phi1 21.125 * [backup-simplify]: Simplify 0 into 0 21.125 * [backup-simplify]: Simplify 1 into 1 21.126 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 21.126 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.126 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1 21.126 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 21.126 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 21.126 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.126 * [backup-simplify]: Simplify 0.5 into 0.5 21.126 * [taylor]: Taking taylor expansion of phi2 in phi1 21.126 * [backup-simplify]: Simplify phi2 into phi2 21.126 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.126 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.126 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.126 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 21.126 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 21.126 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.126 * [backup-simplify]: Simplify 0.5 into 0.5 21.126 * [taylor]: Taking taylor expansion of phi2 in phi1 21.126 * [backup-simplify]: Simplify phi2 into phi2 21.126 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.127 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.127 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.127 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 21.127 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 21.127 * [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)) 21.128 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 21.128 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 21.128 * [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)) 21.129 * [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))) 21.129 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.129 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.129 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.130 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.130 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.130 * [backup-simplify]: Simplify (- 0) into 0 21.130 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.131 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 21.131 * [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)))) 21.131 * [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))))) 21.132 * [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)))))) 21.132 * [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))))))) 21.134 * [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))))))) 21.135 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 21.137 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 21.138 * [backup-simplify]: Simplify (+ 0) into 0 21.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.138 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.140 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.140 * [backup-simplify]: Simplify (+ 0 0) into 0 21.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 21.140 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 21.140 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 21.141 * [backup-simplify]: Simplify (+ 0) into 0 21.141 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.141 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.142 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.142 * [backup-simplify]: Simplify (- 0) into 0 21.142 * [backup-simplify]: Simplify (+ 0 0) into 0 21.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.143 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 21.143 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 21.143 * [backup-simplify]: Simplify (+ 0 0) into 0 21.143 * [backup-simplify]: Simplify (+ 0) into 0 21.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.144 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.144 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.145 * [backup-simplify]: Simplify (- 0) into 0 21.145 * [backup-simplify]: Simplify (+ 0 0) into 0 21.145 * [backup-simplify]: Simplify (+ 0) into 0 21.146 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.146 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.147 * [backup-simplify]: Simplify (+ 0 0) into 0 21.147 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.147 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 21.147 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.148 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 21.148 * [backup-simplify]: Simplify (- 0) into 0 21.148 * [backup-simplify]: Simplify (+ 0 0) into 0 21.150 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.151 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.152 * [backup-simplify]: Simplify (* (/ 1 R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 R)) 21.153 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 R))) into (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 R))) 21.153 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 R))) in R 21.153 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 R)) in R 21.153 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in R 21.153 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in R 21.153 * [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 R 21.153 * [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 R 21.153 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in R 21.153 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R 21.153 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 21.153 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.153 * [taylor]: Taking taylor expansion of 0.5 in R 21.153 * [backup-simplify]: Simplify 0.5 into 0.5 21.153 * [taylor]: Taking taylor expansion of phi1 in R 21.153 * [backup-simplify]: Simplify phi1 into phi1 21.153 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.153 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.153 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.153 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.153 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.153 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.153 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R 21.153 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 21.153 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.153 * [taylor]: Taking taylor expansion of 0.5 in R 21.153 * [backup-simplify]: Simplify 0.5 into 0.5 21.153 * [taylor]: Taking taylor expansion of phi2 in R 21.153 * [backup-simplify]: Simplify phi2 into phi2 21.153 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.154 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.154 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.154 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.154 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.154 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.154 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in R 21.154 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R 21.154 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 21.154 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.154 * [taylor]: Taking taylor expansion of 0.5 in R 21.154 * [backup-simplify]: Simplify 0.5 into 0.5 21.154 * [taylor]: Taking taylor expansion of phi1 in R 21.154 * [backup-simplify]: Simplify phi1 into phi1 21.154 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.154 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.154 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.154 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.154 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.155 * [backup-simplify]: Simplify (- 0) into 0 21.155 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.155 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R 21.155 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 21.155 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.155 * [taylor]: Taking taylor expansion of 0.5 in R 21.155 * [backup-simplify]: Simplify 0.5 into 0.5 21.155 * [taylor]: Taking taylor expansion of phi2 in R 21.155 * [backup-simplify]: Simplify phi2 into phi2 21.155 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.155 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.155 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.156 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.156 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.156 * [backup-simplify]: Simplify (- 0) into 0 21.156 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.156 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in R 21.156 * [taylor]: Taking taylor expansion of 2 in R 21.156 * [backup-simplify]: Simplify 2 into 2 21.156 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in R 21.156 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 21.156 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.156 * [taylor]: Taking taylor expansion of 0.5 in R 21.156 * [backup-simplify]: Simplify 0.5 into 0.5 21.156 * [taylor]: Taking taylor expansion of phi1 in R 21.156 * [backup-simplify]: Simplify phi1 into phi1 21.156 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.156 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.156 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.156 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in R 21.156 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 21.156 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.156 * [taylor]: Taking taylor expansion of 0.5 in R 21.157 * [backup-simplify]: Simplify 0.5 into 0.5 21.157 * [taylor]: Taking taylor expansion of phi1 in R 21.157 * [backup-simplify]: Simplify phi1 into phi1 21.157 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.157 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.157 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.157 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in R 21.157 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 21.157 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.157 * [taylor]: Taking taylor expansion of 0.5 in R 21.157 * [backup-simplify]: Simplify 0.5 into 0.5 21.157 * [taylor]: Taking taylor expansion of phi2 in R 21.157 * [backup-simplify]: Simplify phi2 into phi2 21.157 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.157 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.157 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.157 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 21.157 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.157 * [taylor]: Taking taylor expansion of 0.5 in R 21.157 * [backup-simplify]: Simplify 0.5 into 0.5 21.157 * [taylor]: Taking taylor expansion of phi2 in R 21.157 * [backup-simplify]: Simplify phi2 into phi2 21.157 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.157 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.157 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.157 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 21.157 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 21.158 * [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)) 21.158 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 21.158 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 21.158 * [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)) 21.159 * [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))) 21.159 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.159 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.159 * [backup-simplify]: Simplify (- 0) into 0 21.159 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.159 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.159 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.159 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.159 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.160 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.160 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.160 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.160 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.160 * [backup-simplify]: Simplify (- 0) into 0 21.160 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.160 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 21.160 * [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)))) 21.161 * [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))))) 21.161 * [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)))))) 21.161 * [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))))))) 21.162 * [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))))))) 21.163 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 21.163 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 21.168 * [backup-simplify]: Simplify (+ 0) into 0 21.168 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.168 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.169 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.169 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.170 * [backup-simplify]: Simplify (+ 0 0) into 0 21.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 21.170 * [backup-simplify]: Simplify (+ 0) into 0 21.170 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.170 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.171 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.171 * [backup-simplify]: Simplify (+ 0 0) into 0 21.171 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 21.172 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 21.172 * [backup-simplify]: Simplify (+ 0) into 0 21.173 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.173 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.174 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.174 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.175 * [backup-simplify]: Simplify (- 0) into 0 21.175 * [backup-simplify]: Simplify (+ 0 0) into 0 21.175 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.176 * [backup-simplify]: Simplify (+ 0) into 0 21.176 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.176 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.178 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.178 * [backup-simplify]: Simplify (- 0) into 0 21.178 * [backup-simplify]: Simplify (+ 0 0) into 0 21.179 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 21.179 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 21.179 * [backup-simplify]: Simplify (+ 0 0) into 0 21.180 * [backup-simplify]: Simplify (+ 0) into 0 21.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.181 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.182 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.182 * [backup-simplify]: Simplify (- 0) into 0 21.183 * [backup-simplify]: Simplify (+ 0 0) into 0 21.183 * [backup-simplify]: Simplify (+ 0) into 0 21.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.184 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.185 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.186 * [backup-simplify]: Simplify (+ 0 0) into 0 21.186 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.186 * [backup-simplify]: Simplify (+ 0) into 0 21.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.188 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.189 * [backup-simplify]: Simplify (+ 0 0) into 0 21.189 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 21.190 * [backup-simplify]: Simplify (+ 0) into 0 21.190 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.192 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.192 * [backup-simplify]: Simplify (- 0) into 0 21.192 * [backup-simplify]: Simplify (+ 0 0) into 0 21.193 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.194 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 21.194 * [backup-simplify]: Simplify (- 0) into 0 21.194 * [backup-simplify]: Simplify (+ 0 0) into 0 21.197 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.198 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.198 * [taylor]: Taking taylor expansion of (/ 1 R) in R 21.198 * [taylor]: Taking taylor expansion of R in R 21.198 * [backup-simplify]: Simplify 0 into 0 21.198 * [backup-simplify]: Simplify 1 into 1 21.198 * [backup-simplify]: Simplify (/ 1 1) into 1 21.199 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 21.200 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 21.201 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 21.202 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.202 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.202 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.203 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.203 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.203 * [backup-simplify]: Simplify (+ 0 0) into 0 21.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 21.204 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.205 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.205 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.205 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.206 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.206 * [backup-simplify]: Simplify (+ 0 0) into 0 21.206 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 21.207 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 21.207 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.208 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.208 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.209 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.209 * [backup-simplify]: Simplify (- 0) into 0 21.209 * [backup-simplify]: Simplify (+ 0 0) into 0 21.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 21.210 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.211 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.211 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.212 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.212 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.212 * [backup-simplify]: Simplify (- 0) into 0 21.212 * [backup-simplify]: Simplify (+ 0 0) into 0 21.213 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 21.213 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 21.213 * [backup-simplify]: Simplify (+ 0 0) into 0 21.214 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.214 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.215 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.215 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.215 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.216 * [backup-simplify]: Simplify (- 0) into 0 21.216 * [backup-simplify]: Simplify (+ 0 0) into 0 21.216 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.217 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.217 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.218 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.218 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.218 * [backup-simplify]: Simplify (+ 0 0) into 0 21.219 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 21.219 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.220 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.220 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.220 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.221 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.221 * [backup-simplify]: Simplify (+ 0 0) into 0 21.221 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.222 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.222 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.223 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.223 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.224 * [backup-simplify]: Simplify (- 0) into 0 21.224 * [backup-simplify]: Simplify (+ 0 0) into 0 21.224 * [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 21.225 * [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 21.225 * [backup-simplify]: Simplify (- 0) into 0 21.226 * [backup-simplify]: Simplify (+ 0 0) into 0 21.229 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.231 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.232 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.233 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.234 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.235 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.235 * [backup-simplify]: Simplify (- 0) into 0 21.236 * [backup-simplify]: Simplify (+ 0 0) into 0 21.237 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.237 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.238 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.238 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.239 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.239 * [backup-simplify]: Simplify (+ 0 0) into 0 21.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 21.241 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.242 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.242 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.243 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.243 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.244 * [backup-simplify]: Simplify (- 0) into 0 21.245 * [backup-simplify]: Simplify (+ 0 0) into 0 21.246 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.247 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.248 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.248 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.249 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.249 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.250 * [backup-simplify]: Simplify (+ 0 0) into 0 21.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 21.251 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 21.252 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 21.255 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 21.258 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) into 0 21.259 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.260 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.260 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.261 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.262 * [backup-simplify]: Simplify (+ 0 0) into 0 21.263 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 21.264 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.264 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.266 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.266 * [backup-simplify]: Simplify (+ 0 0) into 0 21.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 21.268 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 21.269 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.270 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.270 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.271 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.271 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.272 * [backup-simplify]: Simplify (- 0) into 0 21.272 * [backup-simplify]: Simplify (+ 0 0) into 0 21.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 21.274 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.274 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.275 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.275 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.276 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.276 * [backup-simplify]: Simplify (- 0) into 0 21.277 * [backup-simplify]: Simplify (+ 0 0) into 0 21.277 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 21.278 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 21.278 * [backup-simplify]: Simplify (+ 0 0) into 0 21.279 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.280 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.280 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.281 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.282 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.282 * [backup-simplify]: Simplify (- 0) into 0 21.283 * [backup-simplify]: Simplify (+ 0 0) into 0 21.283 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.284 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.285 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.285 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.286 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.286 * [backup-simplify]: Simplify (+ 0 0) into 0 21.287 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 21.288 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.289 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.290 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.291 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.291 * [backup-simplify]: Simplify (+ 0 0) into 0 21.292 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.293 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.294 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.294 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.295 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.295 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.296 * [backup-simplify]: Simplify (- 0) into 0 21.296 * [backup-simplify]: Simplify (+ 0 0) into 0 21.297 * [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 21.298 * [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 21.298 * [backup-simplify]: Simplify (- 0) into 0 21.299 * [backup-simplify]: Simplify (+ 0 0) into 0 21.304 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.315 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.317 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.318 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.318 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.319 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.319 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.320 * [backup-simplify]: Simplify (+ 0 0) into 0 21.320 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 21.321 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.322 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.322 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.323 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.324 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.324 * [backup-simplify]: Simplify (+ 0 0) into 0 21.325 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 21.326 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 21.327 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0 21.327 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 21.329 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 21.330 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.330 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.331 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.331 * [backup-simplify]: Simplify (+ 0 0) into 0 21.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 21.332 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.333 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.333 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.333 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.334 * [backup-simplify]: Simplify (+ 0 0) into 0 21.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 21.335 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 21.335 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.336 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.336 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.336 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.337 * [backup-simplify]: Simplify (- 0) into 0 21.337 * [backup-simplify]: Simplify (+ 0 0) into 0 21.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 21.338 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.339 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.339 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.340 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.340 * [backup-simplify]: Simplify (- 0) into 0 21.340 * [backup-simplify]: Simplify (+ 0 0) into 0 21.340 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 21.341 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 21.341 * [backup-simplify]: Simplify (+ 0 0) into 0 21.342 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.342 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.342 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.343 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.343 * [backup-simplify]: Simplify (- 0) into 0 21.344 * [backup-simplify]: Simplify (+ 0 0) into 0 21.344 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.345 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.345 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.346 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.346 * [backup-simplify]: Simplify (+ 0 0) into 0 21.346 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 21.347 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.347 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.347 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.348 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.348 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.349 * [backup-simplify]: Simplify (+ 0 0) into 0 21.349 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.349 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.350 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.351 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.351 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.351 * [backup-simplify]: Simplify (- 0) into 0 21.351 * [backup-simplify]: Simplify (+ 0 0) into 0 21.352 * [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 21.353 * [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 21.353 * [backup-simplify]: Simplify (- 0) into 0 21.353 * [backup-simplify]: Simplify (+ 0 0) into 0 21.355 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.357 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.357 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.358 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.358 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.358 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.359 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.359 * [backup-simplify]: Simplify (- 0) into 0 21.359 * [backup-simplify]: Simplify (+ 0 0) into 0 21.360 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 21.360 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.361 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.362 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.363 * [backup-simplify]: Simplify (- 0) into 0 21.364 * [backup-simplify]: Simplify (+ 0 0) into 0 21.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 21.365 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 21.366 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 R)))) into 0 21.367 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 21.369 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 21.370 * [backup-simplify]: Simplify (+ 0 0) into 0 21.370 * [backup-simplify]: Simplify (- 0) into 0 21.370 * [backup-simplify]: Simplify (+ 0 0) into 0 21.371 * [taylor]: Taking taylor expansion of 0 in phi2 21.371 * [backup-simplify]: Simplify 0 into 0 21.372 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.373 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.373 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.374 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.374 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.375 * [backup-simplify]: Simplify (+ 0 0) into 0 21.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 21.376 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.378 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.378 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.379 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.379 * [backup-simplify]: Simplify (+ 0 0) into 0 21.380 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 21.381 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 21.382 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.383 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.383 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.384 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.384 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.385 * [backup-simplify]: Simplify (- 0) into 0 21.385 * [backup-simplify]: Simplify (+ 0 0) into 0 21.386 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 21.387 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.387 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.388 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.389 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.389 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.390 * [backup-simplify]: Simplify (- 0) into 0 21.390 * [backup-simplify]: Simplify (+ 0 0) into 0 21.391 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 21.392 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 21.392 * [backup-simplify]: Simplify (+ 0 0) into 0 21.393 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.394 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.394 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.395 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.396 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.396 * [backup-simplify]: Simplify (- 0) into 0 21.397 * [backup-simplify]: Simplify (+ 0 0) into 0 21.398 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.398 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 21.399 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.400 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.400 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 21.401 * [backup-simplify]: Simplify (+ 0 0) into 0 21.401 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 21.402 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.403 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.403 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.404 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.405 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.405 * [backup-simplify]: Simplify (+ 0 0) into 0 21.406 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.407 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.408 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 21.408 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.409 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 21.410 * [backup-simplify]: Simplify (- 0) into 0 21.410 * [backup-simplify]: Simplify (+ 0 0) into 0 21.411 * [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 21.413 * [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 21.414 * [backup-simplify]: Simplify (- 0) into 0 21.414 * [backup-simplify]: Simplify (+ 0 0) into 0 21.416 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0 21.417 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 21.418 * [backup-simplify]: Simplify (+ (* (/ 1 R) 0) (+ (* 0 0) (* 0 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.418 * [taylor]: Taking taylor expansion of 0 in phi2 21.418 * [backup-simplify]: Simplify 0 into 0 21.418 * [taylor]: Taking taylor expansion of 0 in phi1 21.418 * [backup-simplify]: Simplify 0 into 0 21.418 * [taylor]: Taking taylor expansion of 0 in phi1 21.418 * [backup-simplify]: Simplify 0 into 0 21.418 * [taylor]: Taking taylor expansion of 0 in phi1 21.418 * [backup-simplify]: Simplify 0 into 0 21.418 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.418 * [backup-simplify]: Simplify (+ 0) into 0 21.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.419 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.420 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.420 * [backup-simplify]: Simplify (+ 0 0) into 0 21.420 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 21.420 * [backup-simplify]: Simplify (+ 0) into 0 21.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.421 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.422 * [backup-simplify]: Simplify (- 0) into 0 21.422 * [backup-simplify]: Simplify (+ 0 0) into 0 21.422 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.423 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (/ 0 R)))) into 0 21.424 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.425 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0 21.425 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 21.426 * [backup-simplify]: Simplify (+ 0) into 0 21.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.426 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.427 * [backup-simplify]: Simplify (+ 0 0) into 0 21.427 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 21.427 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 21.428 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (/ 0 R)))) into 0 21.429 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.429 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.429 * [backup-simplify]: Simplify (+ 0) into 0 21.430 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.430 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.431 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.431 * [backup-simplify]: Simplify (- 0) into 0 21.431 * [backup-simplify]: Simplify (+ 0 0) into 0 21.431 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 21.431 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 21.432 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (/ 0 R)))) into 0 21.433 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.433 * [backup-simplify]: Simplify (+ 0 0) into 0 21.433 * [backup-simplify]: Simplify (- 0) into 0 21.434 * [backup-simplify]: Simplify (+ 0 0) into 0 21.434 * [taylor]: Taking taylor expansion of 0 in phi1 21.434 * [backup-simplify]: Simplify 0 into 0 21.434 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0 21.435 * [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)))))))) 0) (* 0 (/ 1 R))) into 0 21.435 * [taylor]: Taking taylor expansion of 0 in phi1 21.435 * [backup-simplify]: Simplify 0 into 0 21.436 * [backup-simplify]: Simplify (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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)))))))))) 21.437 * [backup-simplify]: Simplify (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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))))))))))) 21.438 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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)))))))))) 21.439 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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)))))))))) 21.441 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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))))))))))) 21.444 * [backup-simplify]: Simplify (- (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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)))))))))))) 21.457 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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 (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) into (- (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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 (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (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)))))))))))) 21.457 * [taylor]: Taking taylor expansion of (- (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (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 (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) in R 21.458 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in R 21.458 * [taylor]: Taking taylor expansion of 2 in R 21.458 * [backup-simplify]: Simplify 2 into 2 21.458 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in R 21.458 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) R) in R 21.458 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in R 21.458 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 21.458 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.458 * [taylor]: Taking taylor expansion of 0.5 in R 21.458 * [backup-simplify]: Simplify 0.5 into 0.5 21.458 * [taylor]: Taking taylor expansion of phi1 in R 21.458 * [backup-simplify]: Simplify phi1 into phi1 21.458 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.458 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.458 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.458 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in R 21.458 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 21.458 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.458 * [taylor]: Taking taylor expansion of 0.5 in R 21.458 * [backup-simplify]: Simplify 0.5 into 0.5 21.458 * [taylor]: Taking taylor expansion of phi1 in R 21.458 * [backup-simplify]: Simplify phi1 into phi1 21.459 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.459 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.459 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.459 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in R 21.459 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 21.459 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.459 * [taylor]: Taking taylor expansion of 0.5 in R 21.459 * [backup-simplify]: Simplify 0.5 into 0.5 21.459 * [taylor]: Taking taylor expansion of phi2 in R 21.459 * [backup-simplify]: Simplify phi2 into phi2 21.459 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.459 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.459 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.459 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 21.459 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.459 * [taylor]: Taking taylor expansion of 0.5 in R 21.459 * [backup-simplify]: Simplify 0.5 into 0.5 21.459 * [taylor]: Taking taylor expansion of phi2 in R 21.459 * [backup-simplify]: Simplify phi2 into phi2 21.459 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.459 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.460 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.460 * [taylor]: Taking taylor expansion of R in R 21.460 * [backup-simplify]: Simplify 0 into 0 21.460 * [backup-simplify]: Simplify 1 into 1 21.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.460 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.461 * [backup-simplify]: Simplify (- 0) into 0 21.461 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.461 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.461 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.461 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.461 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.461 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.462 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.462 * [backup-simplify]: Simplify (- 0) into 0 21.462 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.462 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 21.462 * [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)))) 21.463 * [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))))) 21.463 * [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))))) 21.463 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in R 21.463 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in R 21.463 * [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 R 21.463 * [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 R 21.463 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in R 21.463 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R 21.463 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 21.464 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.464 * [taylor]: Taking taylor expansion of 0.5 in R 21.464 * [backup-simplify]: Simplify 0.5 into 0.5 21.464 * [taylor]: Taking taylor expansion of phi1 in R 21.464 * [backup-simplify]: Simplify phi1 into phi1 21.464 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.464 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.464 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.464 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.464 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.464 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.464 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R 21.464 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 21.464 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.464 * [taylor]: Taking taylor expansion of 0.5 in R 21.464 * [backup-simplify]: Simplify 0.5 into 0.5 21.464 * [taylor]: Taking taylor expansion of phi2 in R 21.464 * [backup-simplify]: Simplify phi2 into phi2 21.464 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.465 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.465 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.465 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.465 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.465 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.465 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in R 21.465 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R 21.465 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 21.465 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.465 * [taylor]: Taking taylor expansion of 0.5 in R 21.465 * [backup-simplify]: Simplify 0.5 into 0.5 21.465 * [taylor]: Taking taylor expansion of phi1 in R 21.465 * [backup-simplify]: Simplify phi1 into phi1 21.465 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.465 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.465 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.466 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.466 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.466 * [backup-simplify]: Simplify (- 0) into 0 21.466 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.466 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R 21.466 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 21.466 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.466 * [taylor]: Taking taylor expansion of 0.5 in R 21.466 * [backup-simplify]: Simplify 0.5 into 0.5 21.466 * [taylor]: Taking taylor expansion of phi2 in R 21.467 * [backup-simplify]: Simplify phi2 into phi2 21.467 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.467 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.467 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.467 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.467 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.467 * [backup-simplify]: Simplify (- 0) into 0 21.468 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.468 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in R 21.468 * [taylor]: Taking taylor expansion of 2 in R 21.468 * [backup-simplify]: Simplify 2 into 2 21.468 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in R 21.468 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 21.468 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.468 * [taylor]: Taking taylor expansion of 0.5 in R 21.468 * [backup-simplify]: Simplify 0.5 into 0.5 21.468 * [taylor]: Taking taylor expansion of phi1 in R 21.468 * [backup-simplify]: Simplify phi1 into phi1 21.468 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.468 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.468 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.468 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in R 21.468 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 21.468 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.468 * [taylor]: Taking taylor expansion of 0.5 in R 21.468 * [backup-simplify]: Simplify 0.5 into 0.5 21.468 * [taylor]: Taking taylor expansion of phi1 in R 21.468 * [backup-simplify]: Simplify phi1 into phi1 21.468 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.468 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.469 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.469 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in R 21.469 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 21.469 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.469 * [taylor]: Taking taylor expansion of 0.5 in R 21.469 * [backup-simplify]: Simplify 0.5 into 0.5 21.469 * [taylor]: Taking taylor expansion of phi2 in R 21.469 * [backup-simplify]: Simplify phi2 into phi2 21.469 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.469 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.469 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.469 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 21.469 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.469 * [taylor]: Taking taylor expansion of 0.5 in R 21.469 * [backup-simplify]: Simplify 0.5 into 0.5 21.469 * [taylor]: Taking taylor expansion of phi2 in R 21.469 * [backup-simplify]: Simplify phi2 into phi2 21.469 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.469 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.469 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 21.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 21.470 * [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)) 21.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 21.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 21.471 * [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)) 21.472 * [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))) 21.472 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.472 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.473 * [backup-simplify]: Simplify (- 0) into 0 21.473 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.473 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.473 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.473 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.473 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.473 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.474 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.474 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.474 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.474 * [backup-simplify]: Simplify (- 0) into 0 21.474 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.475 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 21.475 * [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)))) 21.475 * [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))))) 21.476 * [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)))))) 21.476 * [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))))))) 21.477 * [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))))))) 21.479 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 21.481 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 21.482 * [backup-simplify]: Simplify (+ 0) into 0 21.482 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.482 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.484 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.484 * [backup-simplify]: Simplify (+ 0 0) into 0 21.484 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 21.485 * [backup-simplify]: Simplify (+ 0) into 0 21.485 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.485 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.486 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.487 * [backup-simplify]: Simplify (+ 0 0) into 0 21.487 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 21.487 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 21.488 * [backup-simplify]: Simplify (+ 0) into 0 21.488 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.489 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.490 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.490 * [backup-simplify]: Simplify (- 0) into 0 21.491 * [backup-simplify]: Simplify (+ 0 0) into 0 21.491 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.491 * [backup-simplify]: Simplify (+ 0) into 0 21.492 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.492 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.493 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.494 * [backup-simplify]: Simplify (- 0) into 0 21.494 * [backup-simplify]: Simplify (+ 0 0) into 0 21.494 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 21.495 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 21.495 * [backup-simplify]: Simplify (+ 0 0) into 0 21.495 * [backup-simplify]: Simplify (+ 0) into 0 21.496 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.496 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.497 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.498 * [backup-simplify]: Simplify (- 0) into 0 21.498 * [backup-simplify]: Simplify (+ 0 0) into 0 21.499 * [backup-simplify]: Simplify (+ 0) into 0 21.499 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.499 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.500 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.501 * [backup-simplify]: Simplify (+ 0 0) into 0 21.501 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.501 * [backup-simplify]: Simplify (+ 0) into 0 21.502 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.502 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.503 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.504 * [backup-simplify]: Simplify (+ 0 0) into 0 21.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 21.504 * [backup-simplify]: Simplify (+ 0) into 0 21.505 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.505 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.506 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.507 * [backup-simplify]: Simplify (- 0) into 0 21.507 * [backup-simplify]: Simplify (+ 0 0) into 0 21.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.508 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 21.509 * [backup-simplify]: Simplify (- 0) into 0 21.509 * [backup-simplify]: Simplify (+ 0 0) into 0 21.512 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.514 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.514 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (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 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in R 21.514 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in R 21.514 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) R) in R 21.514 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in R 21.514 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R 21.514 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 21.514 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.514 * [taylor]: Taking taylor expansion of 0.5 in R 21.514 * [backup-simplify]: Simplify 0.5 into 0.5 21.514 * [taylor]: Taking taylor expansion of phi1 in R 21.514 * [backup-simplify]: Simplify phi1 into phi1 21.514 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.514 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.515 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.515 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.515 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.515 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R 21.515 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 21.515 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.515 * [taylor]: Taking taylor expansion of 0.5 in R 21.515 * [backup-simplify]: Simplify 0.5 into 0.5 21.515 * [taylor]: Taking taylor expansion of phi2 in R 21.515 * [backup-simplify]: Simplify phi2 into phi2 21.515 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.515 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.515 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.515 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.515 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.516 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.516 * [taylor]: Taking taylor expansion of R in R 21.516 * [backup-simplify]: Simplify 0 into 0 21.516 * [backup-simplify]: Simplify 1 into 1 21.516 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 21.516 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 21.516 * [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)) 21.517 * [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)) 21.517 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in R 21.517 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in R 21.517 * [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 R 21.517 * [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 R 21.517 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in R 21.517 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R 21.517 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 21.517 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.517 * [taylor]: Taking taylor expansion of 0.5 in R 21.517 * [backup-simplify]: Simplify 0.5 into 0.5 21.517 * [taylor]: Taking taylor expansion of phi1 in R 21.517 * [backup-simplify]: Simplify phi1 into phi1 21.517 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.517 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.517 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.517 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.518 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.518 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R 21.518 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 21.518 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.518 * [taylor]: Taking taylor expansion of 0.5 in R 21.518 * [backup-simplify]: Simplify 0.5 into 0.5 21.518 * [taylor]: Taking taylor expansion of phi2 in R 21.518 * [backup-simplify]: Simplify phi2 into phi2 21.518 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.518 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.518 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.518 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.518 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in R 21.519 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R 21.519 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 21.519 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.519 * [taylor]: Taking taylor expansion of 0.5 in R 21.519 * [backup-simplify]: Simplify 0.5 into 0.5 21.519 * [taylor]: Taking taylor expansion of phi1 in R 21.519 * [backup-simplify]: Simplify phi1 into phi1 21.519 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.519 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.519 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.520 * [backup-simplify]: Simplify (- 0) into 0 21.520 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.520 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R 21.520 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 21.520 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.520 * [taylor]: Taking taylor expansion of 0.5 in R 21.520 * [backup-simplify]: Simplify 0.5 into 0.5 21.520 * [taylor]: Taking taylor expansion of phi2 in R 21.520 * [backup-simplify]: Simplify phi2 into phi2 21.520 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.520 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.520 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.521 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.521 * [backup-simplify]: Simplify (- 0) into 0 21.521 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.521 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in R 21.521 * [taylor]: Taking taylor expansion of 2 in R 21.521 * [backup-simplify]: Simplify 2 into 2 21.521 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in R 21.521 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 21.521 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.521 * [taylor]: Taking taylor expansion of 0.5 in R 21.521 * [backup-simplify]: Simplify 0.5 into 0.5 21.521 * [taylor]: Taking taylor expansion of phi1 in R 21.521 * [backup-simplify]: Simplify phi1 into phi1 21.521 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.522 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.522 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.522 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in R 21.522 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 21.522 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.522 * [taylor]: Taking taylor expansion of 0.5 in R 21.522 * [backup-simplify]: Simplify 0.5 into 0.5 21.522 * [taylor]: Taking taylor expansion of phi1 in R 21.522 * [backup-simplify]: Simplify phi1 into phi1 21.522 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.522 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.522 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.522 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in R 21.522 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 21.522 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.522 * [taylor]: Taking taylor expansion of 0.5 in R 21.522 * [backup-simplify]: Simplify 0.5 into 0.5 21.522 * [taylor]: Taking taylor expansion of phi2 in R 21.522 * [backup-simplify]: Simplify phi2 into phi2 21.522 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.522 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.523 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.523 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 21.523 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.523 * [taylor]: Taking taylor expansion of 0.5 in R 21.523 * [backup-simplify]: Simplify 0.5 into 0.5 21.523 * [taylor]: Taking taylor expansion of phi2 in R 21.523 * [backup-simplify]: Simplify phi2 into phi2 21.523 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.523 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.523 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.523 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 21.523 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 21.524 * [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)) 21.524 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 21.524 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 21.524 * [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)) 21.525 * [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))) 21.525 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.525 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.526 * [backup-simplify]: Simplify (- 0) into 0 21.526 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.526 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.526 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.526 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.526 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.527 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.527 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.527 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.527 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.527 * [backup-simplify]: Simplify (- 0) into 0 21.527 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 21.528 * [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)))) 21.528 * [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))))) 21.529 * [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)))))) 21.529 * [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))))))) 21.530 * [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))))))) 21.532 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 21.534 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 21.534 * [backup-simplify]: Simplify (+ 0) into 0 21.535 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.535 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.536 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.537 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.537 * [backup-simplify]: Simplify (+ 0 0) into 0 21.537 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 21.538 * [backup-simplify]: Simplify (+ 0) into 0 21.538 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.538 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.540 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.540 * [backup-simplify]: Simplify (+ 0 0) into 0 21.540 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 21.541 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 21.541 * [backup-simplify]: Simplify (+ 0) into 0 21.542 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.542 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.543 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.543 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.544 * [backup-simplify]: Simplify (- 0) into 0 21.544 * [backup-simplify]: Simplify (+ 0 0) into 0 21.544 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.545 * [backup-simplify]: Simplify (+ 0) into 0 21.545 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.545 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.546 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.547 * [backup-simplify]: Simplify (- 0) into 0 21.548 * [backup-simplify]: Simplify (+ 0 0) into 0 21.548 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 21.548 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 21.549 * [backup-simplify]: Simplify (+ 0 0) into 0 21.549 * [backup-simplify]: Simplify (+ 0) into 0 21.549 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.550 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.551 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.551 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.551 * [backup-simplify]: Simplify (- 0) into 0 21.552 * [backup-simplify]: Simplify (+ 0 0) into 0 21.552 * [backup-simplify]: Simplify (+ 0) into 0 21.553 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.553 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.554 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.554 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.554 * [backup-simplify]: Simplify (+ 0 0) into 0 21.555 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.555 * [backup-simplify]: Simplify (+ 0) into 0 21.556 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.556 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.557 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.557 * [backup-simplify]: Simplify (+ 0 0) into 0 21.558 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 21.558 * [backup-simplify]: Simplify (+ 0) into 0 21.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.559 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.560 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.561 * [backup-simplify]: Simplify (- 0) into 0 21.561 * [backup-simplify]: Simplify (+ 0 0) into 0 21.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.562 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 21.563 * [backup-simplify]: Simplify (- 0) into 0 21.563 * [backup-simplify]: Simplify (+ 0 0) into 0 21.567 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.568 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.568 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in R 21.568 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) R) in R 21.568 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in R 21.568 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R 21.568 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 21.568 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.568 * [taylor]: Taking taylor expansion of 0.5 in R 21.568 * [backup-simplify]: Simplify 0.5 into 0.5 21.568 * [taylor]: Taking taylor expansion of phi1 in R 21.568 * [backup-simplify]: Simplify phi1 into phi1 21.568 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.568 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.569 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.569 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.569 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.569 * [backup-simplify]: Simplify (- 0) into 0 21.569 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.569 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R 21.569 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 21.569 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.569 * [taylor]: Taking taylor expansion of 0.5 in R 21.569 * [backup-simplify]: Simplify 0.5 into 0.5 21.569 * [taylor]: Taking taylor expansion of phi2 in R 21.569 * [backup-simplify]: Simplify phi2 into phi2 21.569 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.569 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.569 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.570 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.570 * [backup-simplify]: Simplify (- 0) into 0 21.570 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.570 * [taylor]: Taking taylor expansion of R in R 21.570 * [backup-simplify]: Simplify 0 into 0 21.570 * [backup-simplify]: Simplify 1 into 1 21.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 21.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 21.570 * [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)) 21.571 * [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)) 21.571 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in R 21.571 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in R 21.571 * [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 R 21.571 * [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 R 21.571 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in R 21.571 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in R 21.571 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 21.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.571 * [taylor]: Taking taylor expansion of 0.5 in R 21.571 * [backup-simplify]: Simplify 0.5 into 0.5 21.571 * [taylor]: Taking taylor expansion of phi1 in R 21.571 * [backup-simplify]: Simplify phi1 into phi1 21.571 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.571 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.571 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.571 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.571 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.571 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in R 21.571 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 21.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.571 * [taylor]: Taking taylor expansion of 0.5 in R 21.571 * [backup-simplify]: Simplify 0.5 into 0.5 21.571 * [taylor]: Taking taylor expansion of phi2 in R 21.571 * [backup-simplify]: Simplify phi2 into phi2 21.571 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.572 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.572 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.572 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.572 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.572 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in R 21.572 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in R 21.572 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 21.572 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.572 * [taylor]: Taking taylor expansion of 0.5 in R 21.572 * [backup-simplify]: Simplify 0.5 into 0.5 21.572 * [taylor]: Taking taylor expansion of phi1 in R 21.572 * [backup-simplify]: Simplify phi1 into phi1 21.572 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.572 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.572 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.572 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.572 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.573 * [backup-simplify]: Simplify (- 0) into 0 21.573 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.573 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in R 21.573 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 21.573 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.573 * [taylor]: Taking taylor expansion of 0.5 in R 21.573 * [backup-simplify]: Simplify 0.5 into 0.5 21.573 * [taylor]: Taking taylor expansion of phi2 in R 21.573 * [backup-simplify]: Simplify phi2 into phi2 21.573 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.573 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.573 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.573 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.573 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.573 * [backup-simplify]: Simplify (- 0) into 0 21.573 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.573 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in R 21.573 * [taylor]: Taking taylor expansion of 2 in R 21.574 * [backup-simplify]: Simplify 2 into 2 21.574 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in R 21.574 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in R 21.574 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.574 * [taylor]: Taking taylor expansion of 0.5 in R 21.574 * [backup-simplify]: Simplify 0.5 into 0.5 21.574 * [taylor]: Taking taylor expansion of phi1 in R 21.574 * [backup-simplify]: Simplify phi1 into phi1 21.574 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.574 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.574 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.574 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in R 21.574 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in R 21.574 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in R 21.574 * [taylor]: Taking taylor expansion of 0.5 in R 21.574 * [backup-simplify]: Simplify 0.5 into 0.5 21.574 * [taylor]: Taking taylor expansion of phi1 in R 21.574 * [backup-simplify]: Simplify phi1 into phi1 21.574 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 21.574 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 21.574 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 21.574 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in R 21.574 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in R 21.574 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.574 * [taylor]: Taking taylor expansion of 0.5 in R 21.574 * [backup-simplify]: Simplify 0.5 into 0.5 21.574 * [taylor]: Taking taylor expansion of phi2 in R 21.574 * [backup-simplify]: Simplify phi2 into phi2 21.574 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.574 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.574 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.574 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in R 21.574 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in R 21.574 * [taylor]: Taking taylor expansion of 0.5 in R 21.574 * [backup-simplify]: Simplify 0.5 into 0.5 21.574 * [taylor]: Taking taylor expansion of phi2 in R 21.574 * [backup-simplify]: Simplify phi2 into phi2 21.574 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 21.575 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 21.575 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 21.575 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 21.575 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 21.575 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 21.575 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 21.575 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 21.575 * [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)) 21.576 * [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))) 21.576 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 21.576 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 21.576 * [backup-simplify]: Simplify (- 0) into 0 21.576 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 21.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 21.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 21.577 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 21.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 21.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 21.577 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 21.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 21.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 21.577 * [backup-simplify]: Simplify (- 0) into 0 21.577 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 21.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) 21.578 * [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)))) 21.578 * [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))))) 21.578 * [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)))))) 21.578 * [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))))))) 21.579 * [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))))))) 21.580 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) 21.581 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 21.582 * [backup-simplify]: Simplify (+ 0) into 0 21.582 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.583 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.583 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.584 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.584 * [backup-simplify]: Simplify (+ 0 0) into 0 21.584 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 21.585 * [backup-simplify]: Simplify (+ 0) into 0 21.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.586 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.586 * [backup-simplify]: Simplify (+ 0 0) into 0 21.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 21.587 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 21.587 * [backup-simplify]: Simplify (+ 0) into 0 21.587 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.588 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.589 * [backup-simplify]: Simplify (- 0) into 0 21.589 * [backup-simplify]: Simplify (+ 0 0) into 0 21.589 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.589 * [backup-simplify]: Simplify (+ 0) into 0 21.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.590 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.591 * [backup-simplify]: Simplify (- 0) into 0 21.591 * [backup-simplify]: Simplify (+ 0 0) into 0 21.591 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 21.592 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 21.592 * [backup-simplify]: Simplify (+ 0 0) into 0 21.592 * [backup-simplify]: Simplify (+ 0) into 0 21.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.593 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.593 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.594 * [backup-simplify]: Simplify (- 0) into 0 21.594 * [backup-simplify]: Simplify (+ 0 0) into 0 21.594 * [backup-simplify]: Simplify (+ 0) into 0 21.595 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 21.595 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 21.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.596 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 21.596 * [backup-simplify]: Simplify (+ 0 0) into 0 21.596 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 21.596 * [backup-simplify]: Simplify (+ 0) into 0 21.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.597 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.598 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.599 * [backup-simplify]: Simplify (+ 0 0) into 0 21.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0 21.599 * [backup-simplify]: Simplify (+ 0) into 0 21.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 21.600 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 21.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 21.602 * [backup-simplify]: Simplify (- 0) into 0 21.602 * [backup-simplify]: Simplify (+ 0 0) into 0 21.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0 21.604 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0 21.604 * [backup-simplify]: Simplify (- 0) into 0 21.604 * [backup-simplify]: Simplify (+ 0 0) into 0 21.607 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.609 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0 21.611 * [backup-simplify]: Simplify (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 21.613 * [backup-simplify]: Simplify (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 21.614 * [backup-simplify]: Simplify (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 21.616 * [backup-simplify]: Simplify (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) 21.620 * [backup-simplify]: Simplify (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) 21.624 * [backup-simplify]: Simplify (- (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) 21.637 * [backup-simplify]: Simplify (+ (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (- (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) into (- (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) 21.644 * [backup-simplify]: Simplify (- (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (* 2 (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) 21.670 * [backup-simplify]: Simplify (+ (* (- (* 2 (* (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))))))) (+ (* (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2))))))))))) (* (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2))))))))))))) (* (/ 1 (/ 1 R)) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))))) (+ (* (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2))))))))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (* 1 (/ 1 lambda1)))))) (* (- (* 2 (* (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))) 3))))) (+ (* (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))) 3)))) (* (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))) 3)))))) (* (/ 1 (/ 1 R)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2)))))))) into (- (+ (* 2 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda2))))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))))) (* 2 (* (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* phi2 (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* lambda2 phi1))))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))))) (+ (* (/ (* phi2 (* (pow (sin (* 0.5 phi2)) 2) (* R (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 phi1))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (+ (* (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 (* (pow (sin (* 0.5 phi2)) 2) R))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))) (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) R))) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))) (+ (* (/ (* phi2 (* (pow (cos (* 0.5 phi1)) 2) (* R (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 phi1))))) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (/ (* phi2 (* phi1 R)) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))))))))) 21.672 * [backup-simplify]: Simplify (* (hypot (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (- (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) (* (sin (* (/ 1 (- phi2)) 0.5)) (sin (* (/ 1 (- phi1)) 0.5))))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))) (/ 1 (- R))) into (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R)) 21.672 * [approximate]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in (lambda1 lambda2 phi2 phi1 R) around 0 21.672 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in R 21.672 * [taylor]: Taking taylor expansion of -1 in R 21.672 * [backup-simplify]: Simplify -1 into -1 21.672 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R) in R 21.672 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) in R 21.672 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 21.672 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in R 21.672 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) in R 21.672 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in R 21.672 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R 21.672 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 21.672 * [taylor]: Taking taylor expansion of lambda2 in R 21.673 * [backup-simplify]: Simplify lambda2 into lambda2 21.673 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 21.673 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 21.673 * [taylor]: Taking taylor expansion of lambda1 in R 21.673 * [backup-simplify]: Simplify lambda1 into lambda1 21.673 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 21.673 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in R 21.673 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in R 21.673 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 21.673 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 21.673 * [taylor]: Taking taylor expansion of -0.5 in R 21.673 * [backup-simplify]: Simplify -0.5 into -0.5 21.673 * [taylor]: Taking taylor expansion of phi2 in R 21.673 * [backup-simplify]: Simplify phi2 into phi2 21.673 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.673 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.673 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.673 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 21.673 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 21.673 * [taylor]: Taking taylor expansion of -0.5 in R 21.673 * [backup-simplify]: Simplify -0.5 into -0.5 21.673 * [taylor]: Taking taylor expansion of phi1 in R 21.673 * [backup-simplify]: Simplify phi1 into phi1 21.674 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.674 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.674 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.674 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in R 21.674 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 21.674 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 21.674 * [taylor]: Taking taylor expansion of -0.5 in R 21.674 * [backup-simplify]: Simplify -0.5 into -0.5 21.674 * [taylor]: Taking taylor expansion of phi2 in R 21.674 * [backup-simplify]: Simplify phi2 into phi2 21.674 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.674 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.674 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.674 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 21.674 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 21.674 * [taylor]: Taking taylor expansion of -0.5 in R 21.674 * [backup-simplify]: Simplify -0.5 into -0.5 21.674 * [taylor]: Taking taylor expansion of phi1 in R 21.674 * [backup-simplify]: Simplify phi1 into phi1 21.674 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.675 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.675 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.675 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in R 21.675 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in R 21.675 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in R 21.675 * [taylor]: Taking taylor expansion of lambda2 in R 21.675 * [backup-simplify]: Simplify lambda2 into lambda2 21.675 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 21.675 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in R 21.675 * [taylor]: Taking taylor expansion of lambda1 in R 21.675 * [backup-simplify]: Simplify lambda1 into lambda1 21.675 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 21.675 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in R 21.675 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in R 21.675 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 21.675 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 21.675 * [taylor]: Taking taylor expansion of -0.5 in R 21.675 * [backup-simplify]: Simplify -0.5 into -0.5 21.675 * [taylor]: Taking taylor expansion of phi2 in R 21.675 * [backup-simplify]: Simplify phi2 into phi2 21.675 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.675 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.676 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.676 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 21.676 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 21.676 * [taylor]: Taking taylor expansion of -0.5 in R 21.676 * [backup-simplify]: Simplify -0.5 into -0.5 21.676 * [taylor]: Taking taylor expansion of phi1 in R 21.676 * [backup-simplify]: Simplify phi1 into phi1 21.676 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.676 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.676 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.676 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in R 21.676 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 21.676 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 21.676 * [taylor]: Taking taylor expansion of -0.5 in R 21.676 * [backup-simplify]: Simplify -0.5 into -0.5 21.676 * [taylor]: Taking taylor expansion of phi2 in R 21.676 * [backup-simplify]: Simplify phi2 into phi2 21.676 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.676 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.676 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.677 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 21.677 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 21.677 * [taylor]: Taking taylor expansion of -0.5 in R 21.677 * [backup-simplify]: Simplify -0.5 into -0.5 21.677 * [taylor]: Taking taylor expansion of phi1 in R 21.677 * [backup-simplify]: Simplify phi1 into phi1 21.677 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.677 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.677 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.677 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in R 21.677 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R 21.677 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 21.677 * [taylor]: Taking taylor expansion of phi2 in R 21.677 * [backup-simplify]: Simplify phi2 into phi2 21.677 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.677 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 21.677 * [taylor]: Taking taylor expansion of phi1 in R 21.677 * [backup-simplify]: Simplify phi1 into phi1 21.677 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.677 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in R 21.677 * [taylor]: Taking taylor expansion of (/ 1 phi2) in R 21.677 * [taylor]: Taking taylor expansion of phi2 in R 21.677 * [backup-simplify]: Simplify phi2 into phi2 21.677 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.678 * [taylor]: Taking taylor expansion of (/ 1 phi1) in R 21.678 * [taylor]: Taking taylor expansion of phi1 in R 21.678 * [backup-simplify]: Simplify phi1 into phi1 21.678 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.678 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 21.678 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 21.678 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 21.678 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 21.679 * [backup-simplify]: Simplify (- 0) into 0 21.679 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 21.679 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 21.679 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 21.680 * [backup-simplify]: Simplify (- 0) into 0 21.680 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 21.680 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 21.680 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 21.680 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 21.680 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 21.680 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 21.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 21.681 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 21.681 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 21.681 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 21.681 * [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)))) 21.682 * [backup-simplify]: Simplify (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 21.682 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 21.682 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 21.682 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 21.682 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 21.683 * [backup-simplify]: Simplify (- 0) into 0 21.683 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 21.683 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 21.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 21.684 * [backup-simplify]: Simplify (- 0) into 0 21.684 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 21.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 21.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 21.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 21.684 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 21.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 21.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 21.685 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 21.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 21.685 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 21.685 * [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)))) 21.686 * [backup-simplify]: Simplify (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 21.687 * [backup-simplify]: Simplify (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2)) 21.687 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 21.687 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 21.687 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 21.687 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 21.688 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2) 21.690 * [backup-simplify]: Simplify (+ (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2)) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 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)) (+ (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* lambda2 lambda1)))))))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (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))))))))) 21.706 * [backup-simplify]: Simplify (sqrt (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 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)) (+ (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* lambda2 lambda1)))))))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (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)))))))))) into (sqrt (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 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)) (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 1 (pow phi2 2))))))))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -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)) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))))) 21.707 * [backup-simplify]: Simplify (+ 0) into 0 21.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.708 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.709 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.709 * [backup-simplify]: Simplify (- 0) into 0 21.710 * [backup-simplify]: Simplify (+ 0 0) into 0 21.710 * [backup-simplify]: Simplify (+ 0) into 0 21.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.713 * [backup-simplify]: Simplify (- 0) into 0 21.713 * [backup-simplify]: Simplify (+ 0 0) into 0 21.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 21.714 * [backup-simplify]: Simplify (+ 0) into 0 21.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.714 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.715 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.716 * [backup-simplify]: Simplify (+ 0 0) into 0 21.717 * [backup-simplify]: Simplify (+ 0) into 0 21.717 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.717 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.719 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.719 * [backup-simplify]: Simplify (+ 0 0) into 0 21.719 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 21.720 * [backup-simplify]: Simplify (- 0) into 0 21.720 * [backup-simplify]: Simplify (+ 0 0) into 0 21.720 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 21.720 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 21.721 * [backup-simplify]: Simplify (- 0) into 0 21.721 * [backup-simplify]: Simplify (+ 0 0) into 0 21.722 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda2) (/ 1 lambda1)) 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 21.722 * [backup-simplify]: Simplify (+ 0) into 0 21.723 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.723 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.724 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.724 * [backup-simplify]: Simplify (- 0) into 0 21.725 * [backup-simplify]: Simplify (+ 0 0) into 0 21.725 * [backup-simplify]: Simplify (+ 0) into 0 21.726 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.726 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.727 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.728 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.728 * [backup-simplify]: Simplify (- 0) into 0 21.729 * [backup-simplify]: Simplify (+ 0 0) into 0 21.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 21.730 * [backup-simplify]: Simplify (+ 0) into 0 21.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.730 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.732 * [backup-simplify]: Simplify (+ 0 0) into 0 21.732 * [backup-simplify]: Simplify (+ 0) into 0 21.733 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.733 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.734 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.735 * [backup-simplify]: Simplify (+ 0 0) into 0 21.735 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 21.735 * [backup-simplify]: Simplify (- 0) into 0 21.736 * [backup-simplify]: Simplify (+ 0 0) into 0 21.736 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 21.736 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0 21.737 * [backup-simplify]: Simplify (- 0) into 0 21.737 * [backup-simplify]: Simplify (+ 0 0) into 0 21.738 * [backup-simplify]: Simplify (+ (* (- (/ 1 lambda2) (/ 1 lambda1)) 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 21.739 * [backup-simplify]: Simplify (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) (* 0 (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 21.739 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.739 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.739 * [backup-simplify]: Simplify (- 0) into 0 21.740 * [backup-simplify]: Simplify (+ 0 0) into 0 21.740 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.740 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.740 * [backup-simplify]: Simplify (- 0) into 0 21.741 * [backup-simplify]: Simplify (+ 0 0) into 0 21.741 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0 21.742 * [backup-simplify]: Simplify (+ 0 0) into 0 21.758 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 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)) (+ (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* lambda2 lambda1)))))))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (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)))))))))))) into 0 21.758 * [taylor]: Taking taylor expansion of R in R 21.758 * [backup-simplify]: Simplify 0 into 0 21.758 * [backup-simplify]: Simplify 1 into 1 21.774 * [backup-simplify]: Simplify (/ (sqrt (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 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)) (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 1 (pow phi2 2))))))))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -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)) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))))))) 1) into (sqrt (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* lambda2 lambda1))) (+ (/ 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)) (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* lambda2 lambda1))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 1 (pow phi2 2))))))))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -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)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)))))))))) 21.775 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi1 21.775 * [taylor]: Taking taylor expansion of -1 in phi1 21.775 * [backup-simplify]: Simplify -1 into -1 21.775 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi1 21.775 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) in phi1 21.775 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 21.775 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi1 21.775 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) in phi1 21.775 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 21.775 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 21.775 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 21.776 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.776 * [backup-simplify]: Simplify lambda2 into lambda2 21.776 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 21.776 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 21.776 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.776 * [backup-simplify]: Simplify lambda1 into lambda1 21.776 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 21.776 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 21.776 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 21.776 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 21.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 21.776 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.776 * [backup-simplify]: Simplify -0.5 into -0.5 21.776 * [taylor]: Taking taylor expansion of phi2 in phi1 21.776 * [backup-simplify]: Simplify phi2 into phi2 21.776 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.776 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.776 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 21.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 21.777 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.777 * [backup-simplify]: Simplify -0.5 into -0.5 21.777 * [taylor]: Taking taylor expansion of phi1 in phi1 21.777 * [backup-simplify]: Simplify 0 into 0 21.777 * [backup-simplify]: Simplify 1 into 1 21.777 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 21.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.777 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 21.778 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 21.778 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 21.778 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.778 * [backup-simplify]: Simplify -0.5 into -0.5 21.778 * [taylor]: Taking taylor expansion of phi2 in phi1 21.778 * [backup-simplify]: Simplify phi2 into phi2 21.778 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.778 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.778 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.778 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 21.778 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 21.778 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.778 * [backup-simplify]: Simplify -0.5 into -0.5 21.778 * [taylor]: Taking taylor expansion of phi1 in phi1 21.778 * [backup-simplify]: Simplify 0 into 0 21.778 * [backup-simplify]: Simplify 1 into 1 21.779 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 21.779 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.779 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1 21.779 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 21.779 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 21.779 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.779 * [backup-simplify]: Simplify lambda2 into lambda2 21.779 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 21.779 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 21.779 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.779 * [backup-simplify]: Simplify lambda1 into lambda1 21.779 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 21.779 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1 21.779 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 21.779 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 21.779 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 21.779 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.779 * [backup-simplify]: Simplify -0.5 into -0.5 21.780 * [taylor]: Taking taylor expansion of phi2 in phi1 21.780 * [backup-simplify]: Simplify phi2 into phi2 21.780 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.780 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 21.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 21.780 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.780 * [backup-simplify]: Simplify -0.5 into -0.5 21.780 * [taylor]: Taking taylor expansion of phi1 in phi1 21.780 * [backup-simplify]: Simplify 0 into 0 21.780 * [backup-simplify]: Simplify 1 into 1 21.781 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 21.781 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.781 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 21.781 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 21.781 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 21.781 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.781 * [backup-simplify]: Simplify -0.5 into -0.5 21.781 * [taylor]: Taking taylor expansion of phi2 in phi1 21.781 * [backup-simplify]: Simplify phi2 into phi2 21.781 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.781 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.781 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.781 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 21.781 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 21.781 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.781 * [backup-simplify]: Simplify -0.5 into -0.5 21.781 * [taylor]: Taking taylor expansion of phi1 in phi1 21.781 * [backup-simplify]: Simplify 0 into 0 21.781 * [backup-simplify]: Simplify 1 into 1 21.782 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 21.782 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.782 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi1 21.782 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1 21.782 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.782 * [taylor]: Taking taylor expansion of phi2 in phi1 21.782 * [backup-simplify]: Simplify phi2 into phi2 21.782 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.782 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.782 * [taylor]: Taking taylor expansion of phi1 in phi1 21.782 * [backup-simplify]: Simplify 0 into 0 21.782 * [backup-simplify]: Simplify 1 into 1 21.783 * [backup-simplify]: Simplify (/ 1 1) into 1 21.783 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi1 21.783 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.783 * [taylor]: Taking taylor expansion of phi2 in phi1 21.783 * [backup-simplify]: Simplify phi2 into phi2 21.783 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.783 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.783 * [taylor]: Taking taylor expansion of phi1 in phi1 21.783 * [backup-simplify]: Simplify 0 into 0 21.783 * [backup-simplify]: Simplify 1 into 1 21.784 * [backup-simplify]: Simplify (/ 1 1) into 1 21.784 * [backup-simplify]: Simplify (- 1) into -1 21.784 * [backup-simplify]: Simplify (+ 0 -1) into -1 21.785 * [backup-simplify]: Simplify (- 1) into -1 21.785 * [backup-simplify]: Simplify (+ 0 -1) into -1 21.786 * [backup-simplify]: Simplify (* -1 -1) into 1 21.786 * [backup-simplify]: Simplify (+ 0 1) into 1 21.787 * [backup-simplify]: Simplify (sqrt 1) into 1 21.787 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.788 * [backup-simplify]: Simplify (- 0) into 0 21.788 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2) 21.789 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.789 * [backup-simplify]: Simplify (- 0) into 0 21.789 * [backup-simplify]: Simplify (+ (/ 1 phi2) 0) into (/ 1 phi2) 21.789 * [backup-simplify]: Simplify (+ (* -1 (/ 1 phi2)) (* (/ 1 phi2) -1)) into (- (* 2 (/ 1 phi2))) 21.789 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 21.790 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 21.790 * [taylor]: Taking taylor expansion of R in phi1 21.790 * [backup-simplify]: Simplify R into R 21.790 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 21.790 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in phi2 21.790 * [taylor]: Taking taylor expansion of -1 in phi2 21.790 * [backup-simplify]: Simplify -1 into -1 21.791 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R) in phi2 21.791 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) in phi2 21.791 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 21.791 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in phi2 21.791 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) in phi2 21.791 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 21.791 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 21.791 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 21.791 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.791 * [backup-simplify]: Simplify lambda2 into lambda2 21.791 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 21.791 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 21.791 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.791 * [backup-simplify]: Simplify lambda1 into lambda1 21.791 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 21.791 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 21.791 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 21.791 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 21.792 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 21.792 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.792 * [backup-simplify]: Simplify -0.5 into -0.5 21.792 * [taylor]: Taking taylor expansion of phi2 in phi2 21.792 * [backup-simplify]: Simplify 0 into 0 21.792 * [backup-simplify]: Simplify 1 into 1 21.792 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 21.792 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.792 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 21.792 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 21.792 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.792 * [backup-simplify]: Simplify -0.5 into -0.5 21.792 * [taylor]: Taking taylor expansion of phi1 in phi2 21.793 * [backup-simplify]: Simplify phi1 into phi1 21.793 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.793 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.793 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.793 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 21.793 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 21.793 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 21.793 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.793 * [backup-simplify]: Simplify -0.5 into -0.5 21.793 * [taylor]: Taking taylor expansion of phi2 in phi2 21.793 * [backup-simplify]: Simplify 0 into 0 21.793 * [backup-simplify]: Simplify 1 into 1 21.793 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 21.794 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.794 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 21.794 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 21.794 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.794 * [backup-simplify]: Simplify -0.5 into -0.5 21.794 * [taylor]: Taking taylor expansion of phi1 in phi2 21.794 * [backup-simplify]: Simplify phi1 into phi1 21.794 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.794 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.794 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.794 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 21.794 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 21.794 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 21.794 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.795 * [backup-simplify]: Simplify lambda2 into lambda2 21.795 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 21.795 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 21.795 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.795 * [backup-simplify]: Simplify lambda1 into lambda1 21.795 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 21.795 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 21.795 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 21.795 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 21.795 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 21.795 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.795 * [backup-simplify]: Simplify -0.5 into -0.5 21.795 * [taylor]: Taking taylor expansion of phi2 in phi2 21.795 * [backup-simplify]: Simplify 0 into 0 21.795 * [backup-simplify]: Simplify 1 into 1 21.795 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 21.796 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.796 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 21.796 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 21.796 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.796 * [backup-simplify]: Simplify -0.5 into -0.5 21.796 * [taylor]: Taking taylor expansion of phi1 in phi2 21.796 * [backup-simplify]: Simplify phi1 into phi1 21.796 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.796 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.796 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.796 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 21.796 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 21.796 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 21.796 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.796 * [backup-simplify]: Simplify -0.5 into -0.5 21.796 * [taylor]: Taking taylor expansion of phi2 in phi2 21.796 * [backup-simplify]: Simplify 0 into 0 21.796 * [backup-simplify]: Simplify 1 into 1 21.797 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 21.797 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.797 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 21.797 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 21.797 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.797 * [backup-simplify]: Simplify -0.5 into -0.5 21.797 * [taylor]: Taking taylor expansion of phi1 in phi2 21.797 * [backup-simplify]: Simplify phi1 into phi1 21.797 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.797 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.797 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.797 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in phi2 21.797 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2 21.797 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.797 * [taylor]: Taking taylor expansion of phi2 in phi2 21.798 * [backup-simplify]: Simplify 0 into 0 21.798 * [backup-simplify]: Simplify 1 into 1 21.798 * [backup-simplify]: Simplify (/ 1 1) into 1 21.798 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.798 * [taylor]: Taking taylor expansion of phi1 in phi2 21.798 * [backup-simplify]: Simplify phi1 into phi1 21.798 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.798 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in phi2 21.798 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.798 * [taylor]: Taking taylor expansion of phi2 in phi2 21.798 * [backup-simplify]: Simplify 0 into 0 21.798 * [backup-simplify]: Simplify 1 into 1 21.799 * [backup-simplify]: Simplify (/ 1 1) into 1 21.799 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.799 * [taylor]: Taking taylor expansion of phi1 in phi2 21.799 * [backup-simplify]: Simplify phi1 into phi1 21.799 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.799 * [backup-simplify]: Simplify (+ 1 0) into 1 21.800 * [backup-simplify]: Simplify (+ 1 0) into 1 21.800 * [backup-simplify]: Simplify (* 1 1) into 1 21.801 * [backup-simplify]: Simplify (+ 0 1) into 1 21.801 * [backup-simplify]: Simplify (sqrt 1) into 1 21.802 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.802 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 21.802 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1)) 21.803 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.803 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 21.804 * [backup-simplify]: Simplify (+ 0 (- (/ 1 phi1))) into (- (/ 1 phi1)) 21.804 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 phi1))) (* (- (/ 1 phi1)) 1)) into (- (* 2 (/ 1 phi1))) 21.804 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 21.805 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 21.805 * [taylor]: Taking taylor expansion of R in phi2 21.805 * [backup-simplify]: Simplify R into R 21.805 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 21.805 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda2 21.805 * [taylor]: Taking taylor expansion of -1 in lambda2 21.805 * [backup-simplify]: Simplify -1 into -1 21.805 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda2 21.805 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda2 21.805 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 21.805 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda2 21.805 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) in lambda2 21.805 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 21.805 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 21.805 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 21.805 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.805 * [backup-simplify]: Simplify 0 into 0 21.805 * [backup-simplify]: Simplify 1 into 1 21.806 * [backup-simplify]: Simplify (/ 1 1) into 1 21.806 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 21.806 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.806 * [backup-simplify]: Simplify lambda1 into lambda1 21.806 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 21.806 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 21.806 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 21.806 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 21.806 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 21.806 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.806 * [backup-simplify]: Simplify -0.5 into -0.5 21.806 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.806 * [backup-simplify]: Simplify phi2 into phi2 21.806 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.807 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.807 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 21.807 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 21.807 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.807 * [backup-simplify]: Simplify -0.5 into -0.5 21.807 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.807 * [backup-simplify]: Simplify phi1 into phi1 21.807 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.807 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.807 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.807 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 21.807 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 21.807 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 21.807 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.807 * [backup-simplify]: Simplify -0.5 into -0.5 21.807 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.807 * [backup-simplify]: Simplify phi2 into phi2 21.807 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.807 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.808 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.808 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 21.808 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 21.808 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.808 * [backup-simplify]: Simplify -0.5 into -0.5 21.808 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.808 * [backup-simplify]: Simplify phi1 into phi1 21.808 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.808 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.808 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.808 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 21.808 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 21.808 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 21.808 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.808 * [backup-simplify]: Simplify 0 into 0 21.808 * [backup-simplify]: Simplify 1 into 1 21.809 * [backup-simplify]: Simplify (/ 1 1) into 1 21.809 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 21.809 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.809 * [backup-simplify]: Simplify lambda1 into lambda1 21.809 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 21.809 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 21.809 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 21.809 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 21.809 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 21.809 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.809 * [backup-simplify]: Simplify -0.5 into -0.5 21.809 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.809 * [backup-simplify]: Simplify phi2 into phi2 21.809 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.809 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.809 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.809 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 21.809 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 21.809 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.809 * [backup-simplify]: Simplify -0.5 into -0.5 21.809 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.809 * [backup-simplify]: Simplify phi1 into phi1 21.810 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.810 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.810 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.810 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 21.810 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 21.810 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 21.810 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.810 * [backup-simplify]: Simplify -0.5 into -0.5 21.810 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.810 * [backup-simplify]: Simplify phi2 into phi2 21.810 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.810 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.810 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.810 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 21.810 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 21.810 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.810 * [backup-simplify]: Simplify -0.5 into -0.5 21.810 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.810 * [backup-simplify]: Simplify phi1 into phi1 21.810 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.811 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.811 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.811 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda2 21.811 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2 21.811 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.811 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.811 * [backup-simplify]: Simplify phi2 into phi2 21.811 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.811 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.811 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.811 * [backup-simplify]: Simplify phi1 into phi1 21.811 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.811 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda2 21.811 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.811 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.811 * [backup-simplify]: Simplify phi2 into phi2 21.811 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.811 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.811 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.811 * [backup-simplify]: Simplify phi1 into phi1 21.811 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.817 * [backup-simplify]: Simplify (+ 1 0) into 1 21.817 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 21.817 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 21.818 * [backup-simplify]: Simplify (- 0) into 0 21.818 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 21.818 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 21.818 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 21.819 * [backup-simplify]: Simplify (- 0) into 0 21.819 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 21.819 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 21.819 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 21.819 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 21.819 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 21.819 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 21.820 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 21.820 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 21.820 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 21.820 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 21.820 * [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)))) 21.821 * [backup-simplify]: Simplify (* 1 (- (* (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)))) 21.821 * [backup-simplify]: Simplify (+ 1 0) into 1 21.821 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 21.822 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 21.822 * [backup-simplify]: Simplify (- 0) into 0 21.822 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 21.822 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 21.822 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 21.823 * [backup-simplify]: Simplify (- 0) into 0 21.823 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 21.823 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 21.823 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 21.823 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 21.823 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 21.823 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 21.824 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 21.824 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 21.824 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 21.824 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 21.824 * [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)))) 21.824 * [backup-simplify]: Simplify (* 1 (- (* (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)))) 21.825 * [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) 21.825 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 0) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 21.826 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 21.827 * [backup-simplify]: Simplify (+ 0) into 0 21.827 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.827 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.828 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.828 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.828 * [backup-simplify]: Simplify (- 0) into 0 21.828 * [backup-simplify]: Simplify (+ 0 0) into 0 21.829 * [backup-simplify]: Simplify (+ 0) into 0 21.829 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.829 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.830 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.830 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.830 * [backup-simplify]: Simplify (- 0) into 0 21.830 * [backup-simplify]: Simplify (+ 0 0) into 0 21.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 21.831 * [backup-simplify]: Simplify (+ 0) into 0 21.831 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.831 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.832 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.832 * [backup-simplify]: Simplify (+ 0 0) into 0 21.832 * [backup-simplify]: Simplify (+ 0) into 0 21.833 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.833 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.834 * [backup-simplify]: Simplify (+ 0 0) into 0 21.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 21.834 * [backup-simplify]: Simplify (- 0) into 0 21.835 * [backup-simplify]: Simplify (+ 0 0) into 0 21.835 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.835 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 21.835 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1)) 21.836 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1)) 21.836 * [backup-simplify]: Simplify (+ 0) into 0 21.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.836 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.837 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.837 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.838 * [backup-simplify]: Simplify (- 0) into 0 21.838 * [backup-simplify]: Simplify (+ 0 0) into 0 21.838 * [backup-simplify]: Simplify (+ 0) into 0 21.838 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.838 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.839 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.839 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.839 * [backup-simplify]: Simplify (- 0) into 0 21.840 * [backup-simplify]: Simplify (+ 0 0) into 0 21.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 21.840 * [backup-simplify]: Simplify (+ 0) into 0 21.840 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.841 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.841 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.841 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.842 * [backup-simplify]: Simplify (+ 0 0) into 0 21.842 * [backup-simplify]: Simplify (+ 0) into 0 21.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.842 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.843 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.843 * [backup-simplify]: Simplify (+ 0 0) into 0 21.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 21.844 * [backup-simplify]: Simplify (- 0) into 0 21.844 * [backup-simplify]: Simplify (+ 0 0) into 0 21.844 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.845 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 21.845 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda1))) into (- (/ 1 lambda1)) 21.845 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1)) 21.846 * [backup-simplify]: Simplify (+ (* (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1))) (* (- (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda1) (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1)))) 21.848 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1)))) 0) into (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1)))) 21.851 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) lambda1)) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1)))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* 2 (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) lambda1)) (* 2 (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) lambda1))) (+ (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda1)) (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda1)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 21.851 * [taylor]: Taking taylor expansion of R in lambda2 21.851 * [backup-simplify]: Simplify R into R 21.852 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 1 R)) 21.852 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1 21.852 * [taylor]: Taking taylor expansion of -1 in lambda1 21.852 * [backup-simplify]: Simplify -1 into -1 21.852 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1 21.852 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 21.853 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 21.853 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1 21.853 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) in lambda1 21.853 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 21.853 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 21.853 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 21.853 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.853 * [backup-simplify]: Simplify lambda2 into lambda2 21.853 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 21.853 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 21.853 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.853 * [backup-simplify]: Simplify 0 into 0 21.853 * [backup-simplify]: Simplify 1 into 1 21.854 * [backup-simplify]: Simplify (/ 1 1) into 1 21.854 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 21.854 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 21.854 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 21.854 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 21.854 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.854 * [backup-simplify]: Simplify -0.5 into -0.5 21.854 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.854 * [backup-simplify]: Simplify phi2 into phi2 21.854 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.854 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.854 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.854 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 21.854 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 21.854 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.854 * [backup-simplify]: Simplify -0.5 into -0.5 21.854 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.854 * [backup-simplify]: Simplify phi1 into phi1 21.854 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.854 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.855 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 21.855 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 21.855 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 21.855 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.855 * [backup-simplify]: Simplify -0.5 into -0.5 21.855 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.855 * [backup-simplify]: Simplify phi2 into phi2 21.855 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.855 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.855 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 21.855 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 21.855 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.855 * [backup-simplify]: Simplify -0.5 into -0.5 21.855 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.855 * [backup-simplify]: Simplify phi1 into phi1 21.855 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.855 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.856 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 21.856 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 21.856 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 21.856 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.856 * [backup-simplify]: Simplify lambda2 into lambda2 21.856 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 21.856 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 21.856 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.856 * [backup-simplify]: Simplify 0 into 0 21.856 * [backup-simplify]: Simplify 1 into 1 21.856 * [backup-simplify]: Simplify (/ 1 1) into 1 21.856 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 21.856 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 21.856 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 21.857 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 21.857 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.857 * [backup-simplify]: Simplify -0.5 into -0.5 21.857 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.857 * [backup-simplify]: Simplify phi2 into phi2 21.857 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.857 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.857 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.857 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 21.857 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 21.857 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.857 * [backup-simplify]: Simplify -0.5 into -0.5 21.857 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.857 * [backup-simplify]: Simplify phi1 into phi1 21.857 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.857 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.857 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.857 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 21.857 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 21.857 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 21.857 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.858 * [backup-simplify]: Simplify -0.5 into -0.5 21.858 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.858 * [backup-simplify]: Simplify phi2 into phi2 21.858 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.858 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.858 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.858 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 21.858 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 21.858 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.858 * [backup-simplify]: Simplify -0.5 into -0.5 21.858 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.858 * [backup-simplify]: Simplify phi1 into phi1 21.858 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.858 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.858 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.858 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 21.858 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 21.858 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.858 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.858 * [backup-simplify]: Simplify phi2 into phi2 21.858 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.858 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.859 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.859 * [backup-simplify]: Simplify phi1 into phi1 21.859 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.859 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 21.859 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.859 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.859 * [backup-simplify]: Simplify phi2 into phi2 21.859 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.859 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.859 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.859 * [backup-simplify]: Simplify phi1 into phi1 21.859 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.859 * [backup-simplify]: Simplify (- 1) into -1 21.860 * [backup-simplify]: Simplify (+ 0 -1) into -1 21.860 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 21.860 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 21.860 * [backup-simplify]: Simplify (- 0) into 0 21.861 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 21.861 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 21.861 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 21.861 * [backup-simplify]: Simplify (- 0) into 0 21.861 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 21.862 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 21.862 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 21.862 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 21.862 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 21.862 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 21.862 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 21.862 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 21.863 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 21.863 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 21.863 * [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)))) 21.864 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 21.864 * [backup-simplify]: Simplify (- 1) into -1 21.864 * [backup-simplify]: Simplify (+ 0 -1) into -1 21.865 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 21.865 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 21.865 * [backup-simplify]: Simplify (- 0) into 0 21.865 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 21.865 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 21.865 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 21.866 * [backup-simplify]: Simplify (- 0) into 0 21.866 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 21.866 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 21.866 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 21.866 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 21.866 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 21.867 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 21.867 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 21.867 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 21.867 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 21.867 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 21.868 * [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)))) 21.868 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 21.869 * [backup-simplify]: Simplify (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* -1 (- (* (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) 21.869 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 0) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 21.871 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 21.872 * [backup-simplify]: Simplify (+ 0) into 0 21.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.873 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.874 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.875 * [backup-simplify]: Simplify (- 0) into 0 21.875 * [backup-simplify]: Simplify (+ 0 0) into 0 21.875 * [backup-simplify]: Simplify (+ 0) into 0 21.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.876 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.877 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.878 * [backup-simplify]: Simplify (- 0) into 0 21.878 * [backup-simplify]: Simplify (+ 0 0) into 0 21.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 21.879 * [backup-simplify]: Simplify (+ 0) into 0 21.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.879 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.880 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.881 * [backup-simplify]: Simplify (+ 0 0) into 0 21.882 * [backup-simplify]: Simplify (+ 0) into 0 21.882 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.882 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.883 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.884 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.884 * [backup-simplify]: Simplify (+ 0 0) into 0 21.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 21.885 * [backup-simplify]: Simplify (- 0) into 0 21.885 * [backup-simplify]: Simplify (+ 0 0) into 0 21.886 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.886 * [backup-simplify]: Simplify (- 0) into 0 21.886 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 21.887 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (- (* (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))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) 21.888 * [backup-simplify]: Simplify (+ 0) into 0 21.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.888 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.890 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.890 * [backup-simplify]: Simplify (- 0) into 0 21.890 * [backup-simplify]: Simplify (+ 0 0) into 0 21.891 * [backup-simplify]: Simplify (+ 0) into 0 21.891 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.892 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.893 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.893 * [backup-simplify]: Simplify (- 0) into 0 21.894 * [backup-simplify]: Simplify (+ 0 0) into 0 21.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 21.894 * [backup-simplify]: Simplify (+ 0) into 0 21.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.895 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.896 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.897 * [backup-simplify]: Simplify (+ 0 0) into 0 21.897 * [backup-simplify]: Simplify (+ 0) into 0 21.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.898 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.899 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.899 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.900 * [backup-simplify]: Simplify (+ 0 0) into 0 21.900 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 21.900 * [backup-simplify]: Simplify (- 0) into 0 21.900 * [backup-simplify]: Simplify (+ 0 0) into 0 21.901 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.901 * [backup-simplify]: Simplify (- 0) into 0 21.901 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 21.902 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (- (* (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))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) 21.903 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) 21.905 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) 0) into (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) 21.908 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))))) 21.908 * [taylor]: Taking taylor expansion of R in lambda1 21.908 * [backup-simplify]: Simplify R into R 21.909 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 1 R)) 21.909 * [taylor]: Taking taylor expansion of (* -1 (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R)) in lambda1 21.909 * [taylor]: Taking taylor expansion of -1 in lambda1 21.909 * [backup-simplify]: Simplify -1 into -1 21.909 * [taylor]: Taking taylor expansion of (/ (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) R) in lambda1 21.909 * [taylor]: Taking taylor expansion of (hypot (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 21.909 * [taylor]: Rewrote expression to (sqrt (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))))) 21.909 * [taylor]: Taking taylor expansion of (+ (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1)))) in lambda1 21.909 * [taylor]: Taking taylor expansion of (* (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) in lambda1 21.909 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 21.909 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 21.909 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 21.909 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.909 * [backup-simplify]: Simplify lambda2 into lambda2 21.909 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 21.909 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 21.909 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.909 * [backup-simplify]: Simplify 0 into 0 21.909 * [backup-simplify]: Simplify 1 into 1 21.910 * [backup-simplify]: Simplify (/ 1 1) into 1 21.910 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 21.910 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 21.910 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 21.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 21.910 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.910 * [backup-simplify]: Simplify -0.5 into -0.5 21.910 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.910 * [backup-simplify]: Simplify phi2 into phi2 21.910 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.910 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.910 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.910 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 21.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 21.910 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.910 * [backup-simplify]: Simplify -0.5 into -0.5 21.910 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.910 * [backup-simplify]: Simplify phi1 into phi1 21.910 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.910 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.910 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.910 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 21.910 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 21.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 21.910 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.910 * [backup-simplify]: Simplify -0.5 into -0.5 21.910 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.910 * [backup-simplify]: Simplify phi2 into phi2 21.910 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.911 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.911 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 21.911 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 21.911 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.911 * [backup-simplify]: Simplify -0.5 into -0.5 21.911 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.911 * [backup-simplify]: Simplify phi1 into phi1 21.911 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.911 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.911 * [taylor]: Taking taylor expansion of (* (- (/ 1 lambda2) (/ 1 lambda1)) (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1 21.911 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 21.911 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 21.911 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.911 * [backup-simplify]: Simplify lambda2 into lambda2 21.911 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 21.911 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 21.911 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.911 * [backup-simplify]: Simplify 0 into 0 21.911 * [backup-simplify]: Simplify 1 into 1 21.911 * [backup-simplify]: Simplify (/ 1 1) into 1 21.911 * [taylor]: Taking taylor expansion of (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1 21.911 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1 21.911 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1 21.911 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 21.911 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.911 * [backup-simplify]: Simplify -0.5 into -0.5 21.911 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.912 * [backup-simplify]: Simplify phi2 into phi2 21.912 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.912 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.912 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.912 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1 21.912 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 21.912 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.912 * [backup-simplify]: Simplify -0.5 into -0.5 21.912 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.912 * [backup-simplify]: Simplify phi1 into phi1 21.912 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.912 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.912 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.912 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1 21.912 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1 21.912 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1 21.912 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.912 * [backup-simplify]: Simplify -0.5 into -0.5 21.912 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.912 * [backup-simplify]: Simplify phi2 into phi2 21.912 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.912 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.912 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.912 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1 21.912 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1 21.912 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.912 * [backup-simplify]: Simplify -0.5 into -0.5 21.912 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.912 * [backup-simplify]: Simplify phi1 into phi1 21.912 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.912 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.912 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.912 * [taylor]: Taking taylor expansion of (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) in lambda1 21.912 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 21.913 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.913 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.913 * [backup-simplify]: Simplify phi2 into phi2 21.913 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.913 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.913 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.913 * [backup-simplify]: Simplify phi1 into phi1 21.913 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.913 * [taylor]: Taking taylor expansion of (- (/ 1 phi2) (/ 1 phi1)) in lambda1 21.913 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.913 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.913 * [backup-simplify]: Simplify phi2 into phi2 21.913 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.913 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.913 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.913 * [backup-simplify]: Simplify phi1 into phi1 21.913 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.913 * [backup-simplify]: Simplify (- 1) into -1 21.913 * [backup-simplify]: Simplify (+ 0 -1) into -1 21.914 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 21.914 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 21.914 * [backup-simplify]: Simplify (- 0) into 0 21.914 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 21.914 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 21.914 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 21.914 * [backup-simplify]: Simplify (- 0) into 0 21.914 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 21.914 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 21.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 21.915 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 21.915 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 21.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 21.915 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 21.915 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 21.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 21.915 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 21.915 * [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)))) 21.916 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 21.916 * [backup-simplify]: Simplify (- 1) into -1 21.916 * [backup-simplify]: Simplify (+ 0 -1) into -1 21.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 21.916 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 21.916 * [backup-simplify]: Simplify (- 0) into 0 21.917 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 21.917 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 21.917 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 21.917 * [backup-simplify]: Simplify (- 0) into 0 21.917 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 21.917 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 21.917 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 21.917 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 21.917 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 21.917 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 21.917 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 21.918 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 21.918 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 21.918 * [backup-simplify]: Simplify (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (- (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 21.918 * [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)))) 21.918 * [backup-simplify]: Simplify (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 21.919 * [backup-simplify]: Simplify (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* -1 (- (* (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) 21.919 * [backup-simplify]: Simplify (+ (pow (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 2) 0) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 21.920 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 21.920 * [backup-simplify]: Simplify (+ 0) into 0 21.921 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.921 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.921 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.922 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.922 * [backup-simplify]: Simplify (- 0) into 0 21.922 * [backup-simplify]: Simplify (+ 0 0) into 0 21.922 * [backup-simplify]: Simplify (+ 0) into 0 21.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.923 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.924 * [backup-simplify]: Simplify (- 0) into 0 21.924 * [backup-simplify]: Simplify (+ 0 0) into 0 21.924 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 21.925 * [backup-simplify]: Simplify (+ 0) into 0 21.925 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.926 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.926 * [backup-simplify]: Simplify (+ 0 0) into 0 21.926 * [backup-simplify]: Simplify (+ 0) into 0 21.927 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.927 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.928 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.928 * [backup-simplify]: Simplify (+ 0 0) into 0 21.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 21.928 * [backup-simplify]: Simplify (- 0) into 0 21.929 * [backup-simplify]: Simplify (+ 0 0) into 0 21.930 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.930 * [backup-simplify]: Simplify (- 0) into 0 21.930 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 21.931 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (- (* (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))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) 21.931 * [backup-simplify]: Simplify (+ 0) into 0 21.932 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.932 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.934 * [backup-simplify]: Simplify (- 0) into 0 21.935 * [backup-simplify]: Simplify (+ 0 0) into 0 21.935 * [backup-simplify]: Simplify (+ 0) into 0 21.936 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.936 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.937 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.938 * [backup-simplify]: Simplify (- 0) into 0 21.938 * [backup-simplify]: Simplify (+ 0 0) into 0 21.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 21.939 * [backup-simplify]: Simplify (+ 0) into 0 21.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.939 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.941 * [backup-simplify]: Simplify (+ 0 0) into 0 21.941 * [backup-simplify]: Simplify (+ 0) into 0 21.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.942 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.950 * [backup-simplify]: Simplify (+ 0 0) into 0 21.950 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 21.951 * [backup-simplify]: Simplify (- 0) into 0 21.952 * [backup-simplify]: Simplify (+ 0 0) into 0 21.952 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.953 * [backup-simplify]: Simplify (- 0) into 0 21.953 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 21.954 * [backup-simplify]: Simplify (+ (* -1 0) (* (/ 1 lambda2) (- (* (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))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) 21.956 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) 21.958 * [backup-simplify]: Simplify (+ (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) 0) into (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))) 21.961 * [backup-simplify]: Simplify (/ (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 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 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))))) 21.961 * [taylor]: Taking taylor expansion of R in lambda1 21.961 * [backup-simplify]: Simplify R into R 21.962 * [backup-simplify]: Simplify (/ (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) R) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 1 R)) 21.963 * [backup-simplify]: Simplify (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 1 R))) into (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) 21.963 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R))) in lambda2 21.963 * [taylor]: Taking taylor expansion of -1 in lambda2 21.963 * [backup-simplify]: Simplify -1 into -1 21.963 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 1 R)) in lambda2 21.963 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 21.963 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 21.963 * [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 21.963 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 21.963 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 21.964 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 21.964 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 21.964 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.964 * [backup-simplify]: Simplify -0.5 into -0.5 21.964 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.964 * [backup-simplify]: Simplify phi2 into phi2 21.964 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.964 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.964 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 21.964 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 21.964 * [backup-simplify]: Simplify (- 0) into 0 21.964 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 21.964 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 21.964 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 21.965 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 21.965 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.965 * [backup-simplify]: Simplify -0.5 into -0.5 21.965 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.965 * [backup-simplify]: Simplify phi1 into phi1 21.965 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.965 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.965 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 21.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 21.965 * [backup-simplify]: Simplify (- 0) into 0 21.965 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 21.965 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 21.965 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 21.965 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 21.965 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 21.965 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.965 * [backup-simplify]: Simplify -0.5 into -0.5 21.965 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.965 * [backup-simplify]: Simplify phi2 into phi2 21.966 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.966 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.966 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 21.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 21.966 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 21.966 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 21.966 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 21.966 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 21.966 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.966 * [backup-simplify]: Simplify -0.5 into -0.5 21.966 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.966 * [backup-simplify]: Simplify phi1 into phi1 21.966 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.966 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.966 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 21.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 21.966 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 21.966 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 21.966 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 21.966 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 21.966 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 21.967 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.967 * [backup-simplify]: Simplify -0.5 into -0.5 21.967 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.967 * [backup-simplify]: Simplify phi2 into phi2 21.967 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.967 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 21.967 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 21.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 21.967 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.967 * [backup-simplify]: Simplify -0.5 into -0.5 21.967 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.967 * [backup-simplify]: Simplify phi2 into phi2 21.967 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.967 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 21.967 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 21.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 21.967 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.967 * [backup-simplify]: Simplify -0.5 into -0.5 21.967 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.967 * [backup-simplify]: Simplify phi1 into phi1 21.967 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.967 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 21.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 21.967 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.967 * [backup-simplify]: Simplify -0.5 into -0.5 21.967 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.967 * [backup-simplify]: Simplify phi1 into phi1 21.967 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.968 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.968 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 21.968 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 21.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 21.968 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.968 * [backup-simplify]: Simplify -0.5 into -0.5 21.968 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.968 * [backup-simplify]: Simplify phi2 into phi2 21.968 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.968 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.968 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 21.968 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 21.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 21.968 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.968 * [backup-simplify]: Simplify -0.5 into -0.5 21.968 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.968 * [backup-simplify]: Simplify phi2 into phi2 21.968 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 21.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 21.968 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 21.968 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 21.968 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 21.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 21.968 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.968 * [backup-simplify]: Simplify -0.5 into -0.5 21.968 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.968 * [backup-simplify]: Simplify phi1 into phi1 21.968 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.968 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.969 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 21.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 21.969 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.969 * [backup-simplify]: Simplify -0.5 into -0.5 21.969 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.969 * [backup-simplify]: Simplify phi1 into phi1 21.969 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 21.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 21.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 21.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 21.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 21.969 * [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)) 21.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 21.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 21.970 * [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)) 21.970 * [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))) 21.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 21.970 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 21.971 * [backup-simplify]: Simplify (- 0) into 0 21.971 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 21.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 21.971 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 21.971 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 21.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 21.971 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 21.971 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 21.971 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 21.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 21.972 * [backup-simplify]: Simplify (- 0) into 0 21.972 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 21.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 21.972 * [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)))) 21.972 * [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))))) 21.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 21.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 21.972 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 21.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 21.973 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 21.973 * [backup-simplify]: Simplify (- 0) into 0 21.973 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 21.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 21.973 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 21.973 * [backup-simplify]: Simplify (- 0) into 0 21.974 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 21.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 21.974 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 21.974 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 21.974 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 21.974 * [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)))) 21.974 * [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))))) 21.975 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 21.975 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 21.976 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 21.977 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 21.978 * [backup-simplify]: Simplify (+ 0) into 0 21.978 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.978 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.979 * [backup-simplify]: Simplify (- 0) into 0 21.980 * [backup-simplify]: Simplify (+ 0 0) into 0 21.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 21.980 * [backup-simplify]: Simplify (+ 0) into 0 21.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.981 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.981 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.982 * [backup-simplify]: Simplify (- 0) into 0 21.982 * [backup-simplify]: Simplify (+ 0 0) into 0 21.982 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 21.982 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 21.983 * [backup-simplify]: Simplify (+ 0) into 0 21.983 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.983 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.984 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.985 * [backup-simplify]: Simplify (+ 0 0) into 0 21.985 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 21.986 * [backup-simplify]: Simplify (+ 0) into 0 21.986 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.986 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.987 * [backup-simplify]: Simplify (+ 0 0) into 0 21.988 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 21.988 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 21.988 * [backup-simplify]: Simplify (+ 0 0) into 0 21.989 * [backup-simplify]: Simplify (+ 0) into 0 21.989 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.989 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.990 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.990 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.991 * [backup-simplify]: Simplify (- 0) into 0 21.991 * [backup-simplify]: Simplify (+ 0 0) into 0 21.991 * [backup-simplify]: Simplify (+ 0) into 0 21.992 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.992 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 21.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 21.993 * [backup-simplify]: Simplify (+ 0 0) into 0 21.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 21.993 * [backup-simplify]: Simplify (+ 0) into 0 21.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.994 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.994 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.995 * [backup-simplify]: Simplify (+ 0 0) into 0 21.995 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 21.995 * [backup-simplify]: Simplify (+ 0) into 0 21.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 21.996 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 21.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 21.997 * [backup-simplify]: Simplify (- 0) into 0 21.997 * [backup-simplify]: Simplify (+ 0 0) into 0 21.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 21.998 * [backup-simplify]: Simplify (+ 0) into 0 21.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 21.999 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.001 * [backup-simplify]: Simplify (+ 0 0) into 0 22.001 * [backup-simplify]: Simplify (+ 0) into 0 22.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.002 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.003 * [backup-simplify]: Simplify (- 0) into 0 22.004 * [backup-simplify]: Simplify (+ 0 0) into 0 22.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.004 * [backup-simplify]: Simplify (+ 0) into 0 22.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.005 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.007 * [backup-simplify]: Simplify (- 0) into 0 22.007 * [backup-simplify]: Simplify (+ 0 0) into 0 22.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 22.008 * [backup-simplify]: Simplify (+ 0) into 0 22.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.009 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.011 * [backup-simplify]: Simplify (+ 0 0) into 0 22.011 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 22.011 * [backup-simplify]: Simplify (+ 0 0) into 0 22.012 * [backup-simplify]: Simplify (- 0) into 0 22.012 * [backup-simplify]: Simplify (+ 0 0) into 0 22.014 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 22.014 * [taylor]: Taking taylor expansion of (/ 1 R) in lambda2 22.014 * [taylor]: Taking taylor expansion of R in lambda2 22.014 * [backup-simplify]: Simplify R into R 22.014 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 22.022 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))))) R) (+ (* (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 1 R)) (/ 0 R)))) into (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) 22.030 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 1 R)))) into (- (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) 22.030 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in lambda2 22.030 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 22.030 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 22.030 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R lambda2)) in lambda2 22.030 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 22.030 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 22.030 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.030 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.030 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.030 * [backup-simplify]: Simplify -0.5 into -0.5 22.030 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.030 * [backup-simplify]: Simplify phi2 into phi2 22.030 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.030 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.031 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.031 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.031 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 22.031 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.031 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.031 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.031 * [backup-simplify]: Simplify -0.5 into -0.5 22.031 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.031 * [backup-simplify]: Simplify phi1 into phi1 22.031 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.031 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.031 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.031 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.031 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2 22.031 * [taylor]: Taking taylor expansion of R in lambda2 22.031 * [backup-simplify]: Simplify R into R 22.031 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.031 * [backup-simplify]: Simplify 0 into 0 22.031 * [backup-simplify]: Simplify 1 into 1 22.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.032 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 22.032 * [backup-simplify]: Simplify (* R 0) into 0 22.032 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 22.032 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 22.032 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 22.033 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 22.033 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 22.033 * [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 22.033 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 22.033 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 22.033 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.033 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.033 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.033 * [backup-simplify]: Simplify -0.5 into -0.5 22.033 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.033 * [backup-simplify]: Simplify phi2 into phi2 22.033 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.033 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.033 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.033 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.033 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.033 * [backup-simplify]: Simplify (- 0) into 0 22.033 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.033 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 22.033 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.033 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.033 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.033 * [backup-simplify]: Simplify -0.5 into -0.5 22.034 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.034 * [backup-simplify]: Simplify phi1 into phi1 22.034 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.034 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.034 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.034 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.034 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.034 * [backup-simplify]: Simplify (- 0) into 0 22.034 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.034 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 22.034 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 22.034 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.034 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.034 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.034 * [backup-simplify]: Simplify -0.5 into -0.5 22.034 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.034 * [backup-simplify]: Simplify phi2 into phi2 22.034 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.034 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.034 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.035 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.035 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.035 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 22.035 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.035 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.035 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.035 * [backup-simplify]: Simplify -0.5 into -0.5 22.035 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.035 * [backup-simplify]: Simplify phi1 into phi1 22.035 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.035 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.035 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.035 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.035 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.035 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 22.035 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 22.035 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.035 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.035 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.035 * [backup-simplify]: Simplify -0.5 into -0.5 22.035 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.035 * [backup-simplify]: Simplify phi2 into phi2 22.035 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.035 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.035 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.035 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 22.035 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.035 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.035 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.036 * [backup-simplify]: Simplify -0.5 into -0.5 22.036 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.036 * [backup-simplify]: Simplify phi2 into phi2 22.036 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.036 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 22.036 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.036 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.036 * [backup-simplify]: Simplify -0.5 into -0.5 22.036 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.036 * [backup-simplify]: Simplify phi1 into phi1 22.036 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.036 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.036 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.036 * [backup-simplify]: Simplify -0.5 into -0.5 22.036 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.036 * [backup-simplify]: Simplify phi1 into phi1 22.036 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.036 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 22.036 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.036 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.036 * [backup-simplify]: Simplify -0.5 into -0.5 22.036 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.036 * [backup-simplify]: Simplify phi2 into phi2 22.036 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.037 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 22.037 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.037 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.037 * [backup-simplify]: Simplify -0.5 into -0.5 22.037 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.037 * [backup-simplify]: Simplify phi2 into phi2 22.037 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.037 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.037 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.037 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 22.037 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.037 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.037 * [backup-simplify]: Simplify -0.5 into -0.5 22.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.037 * [backup-simplify]: Simplify phi1 into phi1 22.037 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.037 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.037 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.037 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.037 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.037 * [backup-simplify]: Simplify -0.5 into -0.5 22.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.037 * [backup-simplify]: Simplify phi1 into phi1 22.037 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.037 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.037 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.037 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.037 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.038 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 22.038 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.038 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.038 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 22.039 * [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))) 22.039 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.039 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.039 * [backup-simplify]: Simplify (- 0) into 0 22.039 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.039 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.039 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.039 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.039 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.039 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.040 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.040 * [backup-simplify]: Simplify (- 0) into 0 22.040 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 22.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 22.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 22.041 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.041 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.041 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.041 * [backup-simplify]: Simplify (- 0) into 0 22.041 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.041 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.042 * [backup-simplify]: Simplify (- 0) into 0 22.042 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.042 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.042 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.042 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.042 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 22.042 * [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)))) 22.042 * [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))))) 22.043 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 22.043 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 22.044 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 22.045 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 22.046 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 22.047 * [backup-simplify]: Simplify (+ 0) into 0 22.047 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.047 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.048 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.048 * [backup-simplify]: Simplify (- 0) into 0 22.049 * [backup-simplify]: Simplify (+ 0 0) into 0 22.049 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.049 * [backup-simplify]: Simplify (+ 0) into 0 22.049 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.050 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.050 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.051 * [backup-simplify]: Simplify (- 0) into 0 22.051 * [backup-simplify]: Simplify (+ 0 0) into 0 22.051 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.051 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.052 * [backup-simplify]: Simplify (+ 0) into 0 22.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.052 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.053 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.054 * [backup-simplify]: Simplify (+ 0 0) into 0 22.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.054 * [backup-simplify]: Simplify (+ 0) into 0 22.055 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.055 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.057 * [backup-simplify]: Simplify (+ 0 0) into 0 22.057 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.058 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.058 * [backup-simplify]: Simplify (+ 0 0) into 0 22.059 * [backup-simplify]: Simplify (+ 0) into 0 22.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.059 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.061 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.061 * [backup-simplify]: Simplify (- 0) into 0 22.062 * [backup-simplify]: Simplify (+ 0 0) into 0 22.062 * [backup-simplify]: Simplify (+ 0) into 0 22.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.063 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.064 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.064 * [backup-simplify]: Simplify (+ 0 0) into 0 22.065 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.065 * [backup-simplify]: Simplify (+ 0) into 0 22.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.066 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.067 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.067 * [backup-simplify]: Simplify (+ 0 0) into 0 22.068 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 22.068 * [backup-simplify]: Simplify (+ 0) into 0 22.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.069 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.070 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.071 * [backup-simplify]: Simplify (- 0) into 0 22.071 * [backup-simplify]: Simplify (+ 0 0) into 0 22.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 22.072 * [backup-simplify]: Simplify (+ 0) into 0 22.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.073 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.074 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.074 * [backup-simplify]: Simplify (+ 0 0) into 0 22.075 * [backup-simplify]: Simplify (+ 0) into 0 22.075 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.075 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.077 * [backup-simplify]: Simplify (- 0) into 0 22.078 * [backup-simplify]: Simplify (+ 0 0) into 0 22.078 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.078 * [backup-simplify]: Simplify (+ 0) into 0 22.085 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.086 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.087 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.088 * [backup-simplify]: Simplify (- 0) into 0 22.088 * [backup-simplify]: Simplify (+ 0 0) into 0 22.088 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 22.089 * [backup-simplify]: Simplify (+ 0) into 0 22.089 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.090 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.091 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.091 * [backup-simplify]: Simplify (+ 0 0) into 0 22.092 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 22.092 * [backup-simplify]: Simplify (+ 0 0) into 0 22.092 * [backup-simplify]: Simplify (- 0) into 0 22.093 * [backup-simplify]: Simplify (+ 0 0) into 0 22.097 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 22.099 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 22.100 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 22.100 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R lambda2)) in lambda2 22.100 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 22.100 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 22.100 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.100 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.100 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.100 * [backup-simplify]: Simplify -0.5 into -0.5 22.100 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.100 * [backup-simplify]: Simplify phi2 into phi2 22.100 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.100 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.100 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.101 * [backup-simplify]: Simplify (- 0) into 0 22.101 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.101 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 22.101 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.101 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.101 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.101 * [backup-simplify]: Simplify -0.5 into -0.5 22.101 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.101 * [backup-simplify]: Simplify phi1 into phi1 22.102 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.102 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.102 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.102 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.102 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.102 * [backup-simplify]: Simplify (- 0) into 0 22.103 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.103 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2 22.103 * [taylor]: Taking taylor expansion of R in lambda2 22.103 * [backup-simplify]: Simplify R into R 22.103 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.103 * [backup-simplify]: Simplify 0 into 0 22.103 * [backup-simplify]: Simplify 1 into 1 22.103 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.103 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.103 * [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)) 22.104 * [backup-simplify]: Simplify (* R 0) into 0 22.104 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 22.104 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 22.105 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 22.105 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 22.105 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 22.105 * [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 22.105 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 22.105 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 22.105 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.105 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.105 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.105 * [backup-simplify]: Simplify -0.5 into -0.5 22.105 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.105 * [backup-simplify]: Simplify phi2 into phi2 22.105 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.105 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.105 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.105 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.106 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.106 * [backup-simplify]: Simplify (- 0) into 0 22.106 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.106 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 22.106 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.106 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.106 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.106 * [backup-simplify]: Simplify -0.5 into -0.5 22.106 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.106 * [backup-simplify]: Simplify phi1 into phi1 22.106 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.106 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.107 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.107 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.107 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.107 * [backup-simplify]: Simplify (- 0) into 0 22.107 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.107 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 22.107 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 22.107 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.108 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.108 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.108 * [backup-simplify]: Simplify -0.5 into -0.5 22.108 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.108 * [backup-simplify]: Simplify phi2 into phi2 22.108 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.108 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.108 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.108 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.108 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.108 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.108 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 22.108 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.108 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.108 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.108 * [backup-simplify]: Simplify -0.5 into -0.5 22.108 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.108 * [backup-simplify]: Simplify phi1 into phi1 22.109 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.109 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.109 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.109 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.109 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.109 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.109 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 22.109 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 22.109 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.109 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.109 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.109 * [backup-simplify]: Simplify -0.5 into -0.5 22.109 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.109 * [backup-simplify]: Simplify phi2 into phi2 22.109 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.110 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.110 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.110 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 22.110 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.110 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.110 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.110 * [backup-simplify]: Simplify -0.5 into -0.5 22.110 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.110 * [backup-simplify]: Simplify phi2 into phi2 22.110 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.110 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.110 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.110 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 22.110 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.110 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.110 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.110 * [backup-simplify]: Simplify -0.5 into -0.5 22.110 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.110 * [backup-simplify]: Simplify phi1 into phi1 22.110 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.111 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.111 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.111 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.111 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.111 * [backup-simplify]: Simplify -0.5 into -0.5 22.111 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.111 * [backup-simplify]: Simplify phi1 into phi1 22.111 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.111 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.111 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.111 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 22.111 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.111 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.111 * [backup-simplify]: Simplify -0.5 into -0.5 22.111 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.111 * [backup-simplify]: Simplify phi2 into phi2 22.111 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.111 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.112 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 22.112 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.112 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.112 * [backup-simplify]: Simplify -0.5 into -0.5 22.112 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.112 * [backup-simplify]: Simplify phi2 into phi2 22.112 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.112 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.112 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 22.112 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.112 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.112 * [backup-simplify]: Simplify -0.5 into -0.5 22.112 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.112 * [backup-simplify]: Simplify phi1 into phi1 22.112 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.113 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.113 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.113 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.113 * [backup-simplify]: Simplify -0.5 into -0.5 22.113 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.113 * [backup-simplify]: Simplify phi1 into phi1 22.113 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.113 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.113 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.114 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.114 * [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)) 22.114 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.114 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.115 * [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)) 22.116 * [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))) 22.116 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.116 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.117 * [backup-simplify]: Simplify (- 0) into 0 22.118 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.118 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.118 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.118 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.118 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.118 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.119 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.119 * [backup-simplify]: Simplify (- 0) into 0 22.119 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.119 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 22.120 * [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)))) 22.120 * [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))))) 22.120 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.120 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.120 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.121 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.121 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.121 * [backup-simplify]: Simplify (- 0) into 0 22.121 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.121 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.122 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.122 * [backup-simplify]: Simplify (- 0) into 0 22.122 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.122 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.122 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.122 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.123 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 22.123 * [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)))) 22.123 * [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))))) 22.124 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 22.125 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 22.127 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 22.130 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 22.132 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 22.132 * [backup-simplify]: Simplify (+ 0) into 0 22.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.133 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.135 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.135 * [backup-simplify]: Simplify (- 0) into 0 22.136 * [backup-simplify]: Simplify (+ 0 0) into 0 22.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.136 * [backup-simplify]: Simplify (+ 0) into 0 22.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.137 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.138 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.139 * [backup-simplify]: Simplify (- 0) into 0 22.139 * [backup-simplify]: Simplify (+ 0 0) into 0 22.139 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.140 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.140 * [backup-simplify]: Simplify (+ 0) into 0 22.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.141 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.143 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.143 * [backup-simplify]: Simplify (+ 0 0) into 0 22.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.144 * [backup-simplify]: Simplify (+ 0) into 0 22.144 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.145 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.146 * [backup-simplify]: Simplify (+ 0 0) into 0 22.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.147 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.147 * [backup-simplify]: Simplify (+ 0 0) into 0 22.148 * [backup-simplify]: Simplify (+ 0) into 0 22.148 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.149 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.151 * [backup-simplify]: Simplify (- 0) into 0 22.151 * [backup-simplify]: Simplify (+ 0 0) into 0 22.151 * [backup-simplify]: Simplify (+ 0) into 0 22.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.152 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.154 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.154 * [backup-simplify]: Simplify (+ 0 0) into 0 22.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.155 * [backup-simplify]: Simplify (+ 0) into 0 22.155 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.157 * [backup-simplify]: Simplify (+ 0 0) into 0 22.158 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 22.158 * [backup-simplify]: Simplify (+ 0) into 0 22.159 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.159 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.160 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.161 * [backup-simplify]: Simplify (- 0) into 0 22.161 * [backup-simplify]: Simplify (+ 0 0) into 0 22.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 22.162 * [backup-simplify]: Simplify (+ 0) into 0 22.162 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.163 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.164 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.164 * [backup-simplify]: Simplify (+ 0 0) into 0 22.165 * [backup-simplify]: Simplify (+ 0) into 0 22.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.166 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.167 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.167 * [backup-simplify]: Simplify (- 0) into 0 22.168 * [backup-simplify]: Simplify (+ 0 0) into 0 22.168 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.168 * [backup-simplify]: Simplify (+ 0) into 0 22.169 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.169 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.171 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.171 * [backup-simplify]: Simplify (- 0) into 0 22.172 * [backup-simplify]: Simplify (+ 0 0) into 0 22.173 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 22.173 * [backup-simplify]: Simplify (+ 0) into 0 22.174 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.174 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.176 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.176 * [backup-simplify]: Simplify (+ 0 0) into 0 22.177 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 22.177 * [backup-simplify]: Simplify (+ 0 0) into 0 22.178 * [backup-simplify]: Simplify (- 0) into 0 22.178 * [backup-simplify]: Simplify (+ 0 0) into 0 22.182 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 22.185 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 22.185 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 22.185 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 22.185 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R lambda2)) in lambda2 22.185 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 22.185 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.185 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.185 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.185 * [backup-simplify]: Simplify -0.5 into -0.5 22.185 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.185 * [backup-simplify]: Simplify phi2 into phi2 22.185 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.185 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.185 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.185 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 22.185 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.185 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.185 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.186 * [backup-simplify]: Simplify -0.5 into -0.5 22.186 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.186 * [backup-simplify]: Simplify phi2 into phi2 22.186 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.186 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.186 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.186 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 22.186 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.186 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.186 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.186 * [backup-simplify]: Simplify -0.5 into -0.5 22.186 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.186 * [backup-simplify]: Simplify phi1 into phi1 22.186 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.186 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.186 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.186 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.186 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.186 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.186 * [backup-simplify]: Simplify -0.5 into -0.5 22.187 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.187 * [backup-simplify]: Simplify phi1 into phi1 22.187 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.187 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.187 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.187 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2 22.187 * [taylor]: Taking taylor expansion of R in lambda2 22.187 * [backup-simplify]: Simplify R into R 22.187 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.187 * [backup-simplify]: Simplify 0 into 0 22.187 * [backup-simplify]: Simplify 1 into 1 22.187 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.187 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.187 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.188 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.188 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.188 * [backup-simplify]: Simplify (- 0) into 0 22.188 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.189 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.189 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.189 * [backup-simplify]: Simplify (- 0) into 0 22.189 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.189 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.190 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.190 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.190 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 22.190 * [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)))) 22.190 * [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))))) 22.191 * [backup-simplify]: Simplify (* R 0) into 0 22.191 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 22.192 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) R) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 22.192 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 22.192 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 22.192 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 22.192 * [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 22.192 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 22.192 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 22.192 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.192 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.192 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.192 * [backup-simplify]: Simplify -0.5 into -0.5 22.192 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.192 * [backup-simplify]: Simplify phi2 into phi2 22.192 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.192 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.192 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.193 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.193 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.193 * [backup-simplify]: Simplify (- 0) into 0 22.193 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.193 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 22.193 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.193 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.193 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.193 * [backup-simplify]: Simplify -0.5 into -0.5 22.193 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.193 * [backup-simplify]: Simplify phi1 into phi1 22.193 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.194 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.194 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.194 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.194 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.194 * [backup-simplify]: Simplify (- 0) into 0 22.194 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.194 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 22.195 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 22.195 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.195 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.195 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.195 * [backup-simplify]: Simplify -0.5 into -0.5 22.195 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.195 * [backup-simplify]: Simplify phi2 into phi2 22.195 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.195 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.195 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.195 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.195 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.195 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.195 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 22.195 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.195 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.195 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.196 * [backup-simplify]: Simplify -0.5 into -0.5 22.196 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.196 * [backup-simplify]: Simplify phi1 into phi1 22.196 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.196 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.196 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.196 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.196 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.196 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.196 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 22.196 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 22.196 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.196 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.196 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.196 * [backup-simplify]: Simplify -0.5 into -0.5 22.196 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.196 * [backup-simplify]: Simplify phi2 into phi2 22.197 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.197 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.197 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.197 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 22.197 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.197 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.197 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.197 * [backup-simplify]: Simplify -0.5 into -0.5 22.197 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.197 * [backup-simplify]: Simplify phi2 into phi2 22.197 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.197 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.197 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.197 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 22.197 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.197 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.197 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.197 * [backup-simplify]: Simplify -0.5 into -0.5 22.197 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.197 * [backup-simplify]: Simplify phi1 into phi1 22.198 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.198 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.198 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.198 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.198 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.198 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.198 * [backup-simplify]: Simplify -0.5 into -0.5 22.198 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.198 * [backup-simplify]: Simplify phi1 into phi1 22.198 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.198 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.198 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.198 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 22.198 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.198 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.198 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.198 * [backup-simplify]: Simplify -0.5 into -0.5 22.198 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.198 * [backup-simplify]: Simplify phi2 into phi2 22.198 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.199 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.199 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.199 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 22.199 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.199 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.199 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.199 * [backup-simplify]: Simplify -0.5 into -0.5 22.199 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.199 * [backup-simplify]: Simplify phi2 into phi2 22.199 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.199 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.199 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.199 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 22.199 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.199 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.199 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.199 * [backup-simplify]: Simplify -0.5 into -0.5 22.199 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.199 * [backup-simplify]: Simplify phi1 into phi1 22.199 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.200 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.200 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.200 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.200 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.200 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.200 * [backup-simplify]: Simplify -0.5 into -0.5 22.200 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.200 * [backup-simplify]: Simplify phi1 into phi1 22.200 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.200 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.200 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.200 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.200 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.201 * [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)) 22.201 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.201 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.202 * [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)) 22.202 * [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))) 22.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.203 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.203 * [backup-simplify]: Simplify (- 0) into 0 22.203 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.204 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.204 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.204 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.204 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.204 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.205 * [backup-simplify]: Simplify (- 0) into 0 22.205 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 22.205 * [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)))) 22.206 * [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))))) 22.206 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.206 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.206 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.206 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.206 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.207 * [backup-simplify]: Simplify (- 0) into 0 22.207 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.208 * [backup-simplify]: Simplify (- 0) into 0 22.208 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.208 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.208 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 22.209 * [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)))) 22.209 * [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))))) 22.210 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 22.211 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 22.213 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 22.215 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 22.217 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 22.218 * [backup-simplify]: Simplify (+ 0) into 0 22.218 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.219 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.220 * [backup-simplify]: Simplify (- 0) into 0 22.221 * [backup-simplify]: Simplify (+ 0 0) into 0 22.221 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.221 * [backup-simplify]: Simplify (+ 0) into 0 22.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.222 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.224 * [backup-simplify]: Simplify (- 0) into 0 22.224 * [backup-simplify]: Simplify (+ 0 0) into 0 22.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.225 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.225 * [backup-simplify]: Simplify (+ 0) into 0 22.226 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.226 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.227 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.228 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.228 * [backup-simplify]: Simplify (+ 0 0) into 0 22.229 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.229 * [backup-simplify]: Simplify (+ 0) into 0 22.229 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.230 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.231 * [backup-simplify]: Simplify (+ 0 0) into 0 22.232 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.232 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.233 * [backup-simplify]: Simplify (+ 0 0) into 0 22.233 * [backup-simplify]: Simplify (+ 0) into 0 22.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.234 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.235 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.235 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.235 * [backup-simplify]: Simplify (- 0) into 0 22.236 * [backup-simplify]: Simplify (+ 0 0) into 0 22.236 * [backup-simplify]: Simplify (+ 0) into 0 22.237 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.237 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.238 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.238 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.239 * [backup-simplify]: Simplify (+ 0 0) into 0 22.239 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.239 * [backup-simplify]: Simplify (+ 0) into 0 22.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.240 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.241 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.242 * [backup-simplify]: Simplify (+ 0 0) into 0 22.242 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 22.243 * [backup-simplify]: Simplify (+ 0) into 0 22.243 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.243 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.244 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.245 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.245 * [backup-simplify]: Simplify (- 0) into 0 22.245 * [backup-simplify]: Simplify (+ 0 0) into 0 22.246 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 22.246 * [backup-simplify]: Simplify (+ 0) into 0 22.247 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.247 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.248 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.249 * [backup-simplify]: Simplify (+ 0 0) into 0 22.249 * [backup-simplify]: Simplify (+ 0) into 0 22.250 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.250 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.251 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.252 * [backup-simplify]: Simplify (- 0) into 0 22.252 * [backup-simplify]: Simplify (+ 0 0) into 0 22.252 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.253 * [backup-simplify]: Simplify (+ 0) into 0 22.253 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.253 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.255 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.255 * [backup-simplify]: Simplify (- 0) into 0 22.256 * [backup-simplify]: Simplify (+ 0 0) into 0 22.256 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 22.256 * [backup-simplify]: Simplify (+ 0) into 0 22.257 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.257 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.258 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.259 * [backup-simplify]: Simplify (+ 0 0) into 0 22.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 22.260 * [backup-simplify]: Simplify (+ 0 0) into 0 22.261 * [backup-simplify]: Simplify (- 0) into 0 22.261 * [backup-simplify]: Simplify (+ 0 0) into 0 22.265 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 22.268 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 22.268 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 22.268 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* R lambda2)) in lambda2 22.268 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 22.268 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.268 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.268 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.268 * [backup-simplify]: Simplify -0.5 into -0.5 22.268 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.268 * [backup-simplify]: Simplify phi2 into phi2 22.268 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.268 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.269 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.269 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 22.269 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.269 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.269 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.269 * [backup-simplify]: Simplify -0.5 into -0.5 22.269 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.269 * [backup-simplify]: Simplify phi2 into phi2 22.269 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.269 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.269 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.269 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 22.269 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.269 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.269 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.269 * [backup-simplify]: Simplify -0.5 into -0.5 22.269 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.269 * [backup-simplify]: Simplify phi1 into phi1 22.269 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.269 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.270 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.270 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.270 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.270 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.270 * [backup-simplify]: Simplify -0.5 into -0.5 22.270 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.270 * [backup-simplify]: Simplify phi1 into phi1 22.270 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.270 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.270 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.270 * [taylor]: Taking taylor expansion of (* R lambda2) in lambda2 22.270 * [taylor]: Taking taylor expansion of R in lambda2 22.270 * [backup-simplify]: Simplify R into R 22.270 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.270 * [backup-simplify]: Simplify 0 into 0 22.270 * [backup-simplify]: Simplify 1 into 1 22.270 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.270 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.271 * [backup-simplify]: Simplify (- 0) into 0 22.271 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.271 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.271 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.272 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.272 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.272 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.272 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.272 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.272 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.272 * [backup-simplify]: Simplify (- 0) into 0 22.272 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.273 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 22.273 * [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)))) 22.273 * [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))))) 22.273 * [backup-simplify]: Simplify (* R 0) into 0 22.273 * [backup-simplify]: Simplify (+ (* R 1) (* 0 0)) into R 22.273 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) R) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R) 22.273 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 22.273 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 22.274 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 22.274 * [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 22.274 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 22.274 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 22.274 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.274 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.274 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.274 * [backup-simplify]: Simplify -0.5 into -0.5 22.274 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.274 * [backup-simplify]: Simplify phi2 into phi2 22.274 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.274 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.274 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.274 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.274 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.274 * [backup-simplify]: Simplify (- 0) into 0 22.274 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.274 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 22.274 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.274 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.274 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.274 * [backup-simplify]: Simplify -0.5 into -0.5 22.274 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.274 * [backup-simplify]: Simplify phi1 into phi1 22.274 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.275 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.275 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.275 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.275 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.275 * [backup-simplify]: Simplify (- 0) into 0 22.275 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.275 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 22.275 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 22.275 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.275 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.275 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.275 * [backup-simplify]: Simplify -0.5 into -0.5 22.275 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.275 * [backup-simplify]: Simplify phi2 into phi2 22.275 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.275 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.275 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.275 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.276 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.276 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.276 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 22.276 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.276 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.276 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.276 * [backup-simplify]: Simplify -0.5 into -0.5 22.276 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.276 * [backup-simplify]: Simplify phi1 into phi1 22.276 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.276 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.276 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.276 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.276 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.276 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.276 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 22.276 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 22.276 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.276 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.276 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.276 * [backup-simplify]: Simplify -0.5 into -0.5 22.276 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.276 * [backup-simplify]: Simplify phi2 into phi2 22.276 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.276 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.276 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.276 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 22.276 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.276 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.276 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.276 * [backup-simplify]: Simplify -0.5 into -0.5 22.276 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.276 * [backup-simplify]: Simplify phi2 into phi2 22.277 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.277 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.277 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.277 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 22.277 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.277 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.277 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.277 * [backup-simplify]: Simplify -0.5 into -0.5 22.277 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.277 * [backup-simplify]: Simplify phi1 into phi1 22.277 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.277 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.277 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.277 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.277 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.277 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.277 * [backup-simplify]: Simplify -0.5 into -0.5 22.277 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.277 * [backup-simplify]: Simplify phi1 into phi1 22.277 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.277 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.277 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.277 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 22.277 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.277 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.277 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.277 * [backup-simplify]: Simplify -0.5 into -0.5 22.277 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.277 * [backup-simplify]: Simplify phi2 into phi2 22.278 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.278 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.278 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.278 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 22.278 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.278 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.278 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.278 * [backup-simplify]: Simplify -0.5 into -0.5 22.278 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.278 * [backup-simplify]: Simplify phi2 into phi2 22.278 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.278 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.278 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.278 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 22.278 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.278 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.278 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.278 * [backup-simplify]: Simplify -0.5 into -0.5 22.278 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.278 * [backup-simplify]: Simplify phi1 into phi1 22.278 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.278 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.278 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.278 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.278 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.278 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.278 * [backup-simplify]: Simplify -0.5 into -0.5 22.278 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.278 * [backup-simplify]: Simplify phi1 into phi1 22.278 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.278 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.278 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.279 * [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)) 22.279 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.279 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.279 * [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)) 22.280 * [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))) 22.280 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.280 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.285 * [backup-simplify]: Simplify (- 0) into 0 22.285 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.285 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.285 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.285 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.285 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.285 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.285 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.286 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.286 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.286 * [backup-simplify]: Simplify (- 0) into 0 22.286 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.286 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 22.286 * [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)))) 22.287 * [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))))) 22.287 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.287 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.287 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.287 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.287 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.287 * [backup-simplify]: Simplify (- 0) into 0 22.287 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.287 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.287 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.288 * [backup-simplify]: Simplify (- 0) into 0 22.288 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.288 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.288 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.288 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.288 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 22.288 * [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)))) 22.288 * [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))))) 22.289 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 22.289 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 22.290 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 22.291 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 22.293 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 22.293 * [backup-simplify]: Simplify (+ 0) into 0 22.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.293 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.294 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.294 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.295 * [backup-simplify]: Simplify (- 0) into 0 22.295 * [backup-simplify]: Simplify (+ 0 0) into 0 22.295 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.295 * [backup-simplify]: Simplify (+ 0) into 0 22.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.296 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.297 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.297 * [backup-simplify]: Simplify (- 0) into 0 22.297 * [backup-simplify]: Simplify (+ 0 0) into 0 22.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.297 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.298 * [backup-simplify]: Simplify (+ 0) into 0 22.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.298 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.299 * [backup-simplify]: Simplify (+ 0 0) into 0 22.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.300 * [backup-simplify]: Simplify (+ 0) into 0 22.300 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.300 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.301 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.301 * [backup-simplify]: Simplify (+ 0 0) into 0 22.301 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.301 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.302 * [backup-simplify]: Simplify (+ 0 0) into 0 22.302 * [backup-simplify]: Simplify (+ 0) into 0 22.302 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.302 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.303 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.303 * [backup-simplify]: Simplify (- 0) into 0 22.304 * [backup-simplify]: Simplify (+ 0 0) into 0 22.304 * [backup-simplify]: Simplify (+ 0) into 0 22.304 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.304 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.305 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.305 * [backup-simplify]: Simplify (+ 0 0) into 0 22.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.306 * [backup-simplify]: Simplify (+ 0) into 0 22.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.306 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.307 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.307 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.307 * [backup-simplify]: Simplify (+ 0 0) into 0 22.307 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 22.308 * [backup-simplify]: Simplify (+ 0) into 0 22.308 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.308 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.309 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.309 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.309 * [backup-simplify]: Simplify (- 0) into 0 22.309 * [backup-simplify]: Simplify (+ 0 0) into 0 22.310 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 22.310 * [backup-simplify]: Simplify (+ 0) into 0 22.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.310 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.311 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.311 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.311 * [backup-simplify]: Simplify (+ 0 0) into 0 22.312 * [backup-simplify]: Simplify (+ 0) into 0 22.312 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.312 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.313 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.313 * [backup-simplify]: Simplify (- 0) into 0 22.314 * [backup-simplify]: Simplify (+ 0 0) into 0 22.314 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.314 * [backup-simplify]: Simplify (+ 0) into 0 22.314 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.314 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.315 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.315 * [backup-simplify]: Simplify (- 0) into 0 22.316 * [backup-simplify]: Simplify (+ 0 0) into 0 22.316 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 22.316 * [backup-simplify]: Simplify (+ 0) into 0 22.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.317 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.319 * [backup-simplify]: Simplify (+ 0 0) into 0 22.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 22.320 * [backup-simplify]: Simplify (+ 0 0) into 0 22.320 * [backup-simplify]: Simplify (- 0) into 0 22.320 * [backup-simplify]: Simplify (+ 0 0) into 0 22.325 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 22.327 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 22.330 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 22.333 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 22.339 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 22.341 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R)) 22.342 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R)) 22.346 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R))) 22.350 * [backup-simplify]: Simplify (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R)))) 22.356 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R))))) into (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R)))) 22.356 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R)))) in phi2 22.356 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi2 22.357 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi2 22.357 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) in phi2 22.357 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 22.357 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 22.357 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.357 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.357 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.357 * [backup-simplify]: Simplify -0.5 into -0.5 22.357 * [taylor]: Taking taylor expansion of phi2 in phi2 22.357 * [backup-simplify]: Simplify 0 into 0 22.357 * [backup-simplify]: Simplify 1 into 1 22.357 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.357 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.357 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 22.357 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.357 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.357 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.357 * [backup-simplify]: Simplify -0.5 into -0.5 22.357 * [taylor]: Taking taylor expansion of phi1 in phi2 22.357 * [backup-simplify]: Simplify phi1 into phi1 22.357 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.358 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.358 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.358 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.358 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.358 * [backup-simplify]: Simplify (- 0) into 0 22.358 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.358 * [taylor]: Taking taylor expansion of R in phi2 22.358 * [backup-simplify]: Simplify R into R 22.358 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.358 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.359 * [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)) 22.359 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 22.359 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 22.359 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 22.359 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 22.359 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 22.359 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 22.359 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 22.359 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.359 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.359 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.359 * [backup-simplify]: Simplify -0.5 into -0.5 22.359 * [taylor]: Taking taylor expansion of phi2 in phi2 22.359 * [backup-simplify]: Simplify 0 into 0 22.359 * [backup-simplify]: Simplify 1 into 1 22.359 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.360 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 22.360 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.360 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.360 * [backup-simplify]: Simplify -0.5 into -0.5 22.360 * [taylor]: Taking taylor expansion of phi1 in phi2 22.360 * [backup-simplify]: Simplify phi1 into phi1 22.360 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.360 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.360 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.360 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.360 * [backup-simplify]: Simplify (- 0) into 0 22.360 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.360 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 22.360 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 22.360 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.360 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.360 * [backup-simplify]: Simplify -0.5 into -0.5 22.360 * [taylor]: Taking taylor expansion of phi2 in phi2 22.360 * [backup-simplify]: Simplify 0 into 0 22.360 * [backup-simplify]: Simplify 1 into 1 22.361 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.361 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.361 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 22.361 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.361 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.361 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.361 * [backup-simplify]: Simplify -0.5 into -0.5 22.361 * [taylor]: Taking taylor expansion of phi1 in phi2 22.361 * [backup-simplify]: Simplify phi1 into phi1 22.361 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.361 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.361 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.361 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.361 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.361 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.361 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 22.361 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 22.361 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.361 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.361 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.361 * [backup-simplify]: Simplify -0.5 into -0.5 22.362 * [taylor]: Taking taylor expansion of phi1 in phi2 22.362 * [backup-simplify]: Simplify phi1 into phi1 22.362 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.362 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.362 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.362 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 22.362 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.362 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.362 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.362 * [backup-simplify]: Simplify -0.5 into -0.5 22.362 * [taylor]: Taking taylor expansion of phi2 in phi2 22.362 * [backup-simplify]: Simplify 0 into 0 22.362 * [backup-simplify]: Simplify 1 into 1 22.362 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.362 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.362 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 22.362 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.362 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.362 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.362 * [backup-simplify]: Simplify -0.5 into -0.5 22.362 * [taylor]: Taking taylor expansion of phi2 in phi2 22.362 * [backup-simplify]: Simplify 0 into 0 22.362 * [backup-simplify]: Simplify 1 into 1 22.363 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.363 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.363 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.363 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.363 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.363 * [backup-simplify]: Simplify -0.5 into -0.5 22.363 * [taylor]: Taking taylor expansion of phi1 in phi2 22.363 * [backup-simplify]: Simplify phi1 into phi1 22.363 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.363 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.363 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.363 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 22.363 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.363 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.363 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.363 * [backup-simplify]: Simplify -0.5 into -0.5 22.363 * [taylor]: Taking taylor expansion of phi1 in phi2 22.363 * [backup-simplify]: Simplify phi1 into phi1 22.363 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.363 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.363 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.363 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 22.363 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.363 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.363 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.363 * [backup-simplify]: Simplify -0.5 into -0.5 22.363 * [taylor]: Taking taylor expansion of phi2 in phi2 22.363 * [backup-simplify]: Simplify 0 into 0 22.363 * [backup-simplify]: Simplify 1 into 1 22.364 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.364 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.364 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 22.364 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.364 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.364 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.364 * [backup-simplify]: Simplify -0.5 into -0.5 22.364 * [taylor]: Taking taylor expansion of phi2 in phi2 22.364 * [backup-simplify]: Simplify 0 into 0 22.364 * [backup-simplify]: Simplify 1 into 1 22.364 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.365 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.365 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.365 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.365 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.365 * [backup-simplify]: Simplify -0.5 into -0.5 22.365 * [taylor]: Taking taylor expansion of phi1 in phi2 22.365 * [backup-simplify]: Simplify phi1 into phi1 22.365 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.365 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.365 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.365 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.365 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.365 * [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)) 22.365 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.365 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.366 * [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)) 22.366 * [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))) 22.366 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.366 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.367 * [backup-simplify]: Simplify (- 0) into 0 22.367 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.367 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.367 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.367 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.367 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 22.367 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 22.367 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 22.367 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.367 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.367 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.367 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.368 * [backup-simplify]: Simplify (- 0) into 0 22.368 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 22.368 * [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)))) 22.368 * [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))))) 22.369 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 22.369 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 22.370 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 22.371 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 22.372 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) 22.373 * [backup-simplify]: Simplify (+ 0) into 0 22.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.373 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.374 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.374 * [backup-simplify]: Simplify (- 0) into 0 22.375 * [backup-simplify]: Simplify (+ 0 0) into 0 22.375 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.375 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.375 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.375 * [backup-simplify]: Simplify (+ 0) into 0 22.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.376 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.377 * [backup-simplify]: Simplify (+ 0 0) into 0 22.377 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.377 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.377 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.378 * [backup-simplify]: Simplify (+ 0 0) into 0 22.378 * [backup-simplify]: Simplify (+ 0) into 0 22.378 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.378 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.379 * [backup-simplify]: Simplify (+ 0 0) into 0 22.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 22.380 * [backup-simplify]: Simplify (+ 0) into 0 22.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.380 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.381 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.381 * [backup-simplify]: Simplify (- 0) into 0 22.382 * [backup-simplify]: Simplify (+ 0 0) into 0 22.382 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 22.382 * [backup-simplify]: Simplify (+ 0) into 0 22.382 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.383 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.383 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.383 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.384 * [backup-simplify]: Simplify (- 0) into 0 22.384 * [backup-simplify]: Simplify (+ 0 0) into 0 22.384 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.384 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 22.385 * [backup-simplify]: Simplify (+ 0) into 0 22.385 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.385 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.386 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.387 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.387 * [backup-simplify]: Simplify (+ 0 0) into 0 22.387 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 22.388 * [backup-simplify]: Simplify (+ 0 0) into 0 22.388 * [backup-simplify]: Simplify (- 0) into 0 22.389 * [backup-simplify]: Simplify (+ 0 0) into 0 22.393 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 22.395 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 22.395 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi2 22.395 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) in phi2 22.395 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 22.395 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 22.395 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.395 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.395 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.395 * [backup-simplify]: Simplify -0.5 into -0.5 22.395 * [taylor]: Taking taylor expansion of phi2 in phi2 22.395 * [backup-simplify]: Simplify 0 into 0 22.395 * [backup-simplify]: Simplify 1 into 1 22.396 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.396 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.396 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 22.396 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.396 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.396 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.396 * [backup-simplify]: Simplify -0.5 into -0.5 22.396 * [taylor]: Taking taylor expansion of phi1 in phi2 22.396 * [backup-simplify]: Simplify phi1 into phi1 22.396 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.396 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.396 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.397 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.397 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.397 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.397 * [taylor]: Taking taylor expansion of R in phi2 22.397 * [backup-simplify]: Simplify R into R 22.397 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.397 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.398 * [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)) 22.398 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 22.398 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 22.398 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 22.398 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 22.398 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 22.398 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 22.398 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 22.398 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.398 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.398 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.398 * [backup-simplify]: Simplify -0.5 into -0.5 22.398 * [taylor]: Taking taylor expansion of phi2 in phi2 22.398 * [backup-simplify]: Simplify 0 into 0 22.398 * [backup-simplify]: Simplify 1 into 1 22.399 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.399 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.399 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 22.399 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.399 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.399 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.399 * [backup-simplify]: Simplify -0.5 into -0.5 22.399 * [taylor]: Taking taylor expansion of phi1 in phi2 22.399 * [backup-simplify]: Simplify phi1 into phi1 22.399 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.399 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.399 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.400 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.400 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.400 * [backup-simplify]: Simplify (- 0) into 0 22.400 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.400 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 22.400 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 22.400 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.400 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.400 * [backup-simplify]: Simplify -0.5 into -0.5 22.400 * [taylor]: Taking taylor expansion of phi2 in phi2 22.400 * [backup-simplify]: Simplify 0 into 0 22.401 * [backup-simplify]: Simplify 1 into 1 22.401 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.401 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.401 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 22.401 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.401 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.401 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.401 * [backup-simplify]: Simplify -0.5 into -0.5 22.401 * [taylor]: Taking taylor expansion of phi1 in phi2 22.401 * [backup-simplify]: Simplify phi1 into phi1 22.401 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.401 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.402 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.402 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.402 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 22.402 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 22.402 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.402 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.402 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.402 * [backup-simplify]: Simplify -0.5 into -0.5 22.402 * [taylor]: Taking taylor expansion of phi1 in phi2 22.402 * [backup-simplify]: Simplify phi1 into phi1 22.402 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.402 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.402 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.402 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 22.402 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.402 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.402 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.403 * [backup-simplify]: Simplify -0.5 into -0.5 22.403 * [taylor]: Taking taylor expansion of phi2 in phi2 22.403 * [backup-simplify]: Simplify 0 into 0 22.403 * [backup-simplify]: Simplify 1 into 1 22.403 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.403 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.403 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 22.403 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.403 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.403 * [backup-simplify]: Simplify -0.5 into -0.5 22.403 * [taylor]: Taking taylor expansion of phi2 in phi2 22.403 * [backup-simplify]: Simplify 0 into 0 22.403 * [backup-simplify]: Simplify 1 into 1 22.404 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.404 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.404 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.404 * [backup-simplify]: Simplify -0.5 into -0.5 22.404 * [taylor]: Taking taylor expansion of phi1 in phi2 22.404 * [backup-simplify]: Simplify phi1 into phi1 22.404 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.404 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 22.404 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.404 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.404 * [backup-simplify]: Simplify -0.5 into -0.5 22.404 * [taylor]: Taking taylor expansion of phi1 in phi2 22.404 * [backup-simplify]: Simplify phi1 into phi1 22.404 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.405 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 22.405 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.405 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.405 * [backup-simplify]: Simplify -0.5 into -0.5 22.405 * [taylor]: Taking taylor expansion of phi2 in phi2 22.405 * [backup-simplify]: Simplify 0 into 0 22.405 * [backup-simplify]: Simplify 1 into 1 22.405 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.405 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 22.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.405 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.405 * [backup-simplify]: Simplify -0.5 into -0.5 22.405 * [taylor]: Taking taylor expansion of phi2 in phi2 22.405 * [backup-simplify]: Simplify 0 into 0 22.405 * [backup-simplify]: Simplify 1 into 1 22.405 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.406 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.406 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.406 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.406 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.406 * [backup-simplify]: Simplify -0.5 into -0.5 22.406 * [taylor]: Taking taylor expansion of phi1 in phi2 22.406 * [backup-simplify]: Simplify phi1 into phi1 22.406 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.406 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.406 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.406 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 22.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.407 * [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)) 22.407 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 22.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.407 * [backup-simplify]: Simplify (- 0) into 0 22.408 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.408 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.408 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.408 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 22.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 22.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 22.408 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.408 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.408 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.413 * [backup-simplify]: Simplify (- 0) into 0 22.413 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.413 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 22.413 * [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)))) 22.414 * [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))))) 22.414 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 22.414 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 22.416 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 22.417 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 22.418 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) 22.418 * [backup-simplify]: Simplify (+ 0) into 0 22.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.419 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.420 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.420 * [backup-simplify]: Simplify (- 0) into 0 22.420 * [backup-simplify]: Simplify (+ 0 0) into 0 22.420 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.420 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.421 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.421 * [backup-simplify]: Simplify (+ 0) into 0 22.421 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.421 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.422 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.422 * [backup-simplify]: Simplify (+ 0 0) into 0 22.423 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.423 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.423 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.423 * [backup-simplify]: Simplify (+ 0 0) into 0 22.423 * [backup-simplify]: Simplify (+ 0) into 0 22.424 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.424 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.424 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.425 * [backup-simplify]: Simplify (+ 0 0) into 0 22.425 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 22.425 * [backup-simplify]: Simplify (+ 0) into 0 22.426 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.426 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.427 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.427 * [backup-simplify]: Simplify (- 0) into 0 22.427 * [backup-simplify]: Simplify (+ 0 0) into 0 22.427 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 22.428 * [backup-simplify]: Simplify (+ 0) into 0 22.428 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.428 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.429 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.429 * [backup-simplify]: Simplify (- 0) into 0 22.429 * [backup-simplify]: Simplify (+ 0 0) into 0 22.429 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.430 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 22.430 * [backup-simplify]: Simplify (+ 0) into 0 22.430 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.430 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.431 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.431 * [backup-simplify]: Simplify (+ 0 0) into 0 22.432 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 22.432 * [backup-simplify]: Simplify (+ 0 0) into 0 22.432 * [backup-simplify]: Simplify (- 0) into 0 22.432 * [backup-simplify]: Simplify (+ 0 0) into 0 22.435 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 22.436 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 22.436 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R))) in phi2 22.436 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R)) in phi2 22.436 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 22.436 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 22.436 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 22.436 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 22.436 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 22.436 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 22.436 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.436 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.436 * [backup-simplify]: Simplify -0.5 into -0.5 22.436 * [taylor]: Taking taylor expansion of phi2 in phi2 22.436 * [backup-simplify]: Simplify 0 into 0 22.436 * [backup-simplify]: Simplify 1 into 1 22.437 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.437 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 22.437 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.437 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.437 * [backup-simplify]: Simplify -0.5 into -0.5 22.437 * [taylor]: Taking taylor expansion of phi1 in phi2 22.437 * [backup-simplify]: Simplify phi1 into phi1 22.437 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.438 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.438 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.438 * [backup-simplify]: Simplify (- 0) into 0 22.439 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.439 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 22.439 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 22.439 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.439 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.439 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.439 * [backup-simplify]: Simplify -0.5 into -0.5 22.439 * [taylor]: Taking taylor expansion of phi2 in phi2 22.439 * [backup-simplify]: Simplify 0 into 0 22.439 * [backup-simplify]: Simplify 1 into 1 22.439 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.439 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.440 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 22.440 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.440 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.440 * [backup-simplify]: Simplify -0.5 into -0.5 22.440 * [taylor]: Taking taylor expansion of phi1 in phi2 22.440 * [backup-simplify]: Simplify phi1 into phi1 22.440 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.440 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.440 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.440 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.440 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 22.440 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 22.440 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.441 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.441 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.441 * [backup-simplify]: Simplify -0.5 into -0.5 22.441 * [taylor]: Taking taylor expansion of phi2 in phi2 22.441 * [backup-simplify]: Simplify 0 into 0 22.441 * [backup-simplify]: Simplify 1 into 1 22.441 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.441 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.441 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 22.441 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.442 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.442 * [backup-simplify]: Simplify -0.5 into -0.5 22.442 * [taylor]: Taking taylor expansion of phi1 in phi2 22.442 * [backup-simplify]: Simplify phi1 into phi1 22.442 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.442 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 22.442 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.442 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.442 * [backup-simplify]: Simplify -0.5 into -0.5 22.442 * [taylor]: Taking taylor expansion of phi2 in phi2 22.442 * [backup-simplify]: Simplify 0 into 0 22.442 * [backup-simplify]: Simplify 1 into 1 22.443 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.443 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.443 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.443 * [backup-simplify]: Simplify -0.5 into -0.5 22.443 * [taylor]: Taking taylor expansion of phi1 in phi2 22.443 * [backup-simplify]: Simplify phi1 into phi1 22.443 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.444 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.444 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 22.444 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.444 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.444 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.444 * [backup-simplify]: Simplify -0.5 into -0.5 22.444 * [taylor]: Taking taylor expansion of phi2 in phi2 22.444 * [backup-simplify]: Simplify 0 into 0 22.444 * [backup-simplify]: Simplify 1 into 1 22.444 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.444 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.444 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 22.444 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.445 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.445 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.445 * [backup-simplify]: Simplify -0.5 into -0.5 22.445 * [taylor]: Taking taylor expansion of phi1 in phi2 22.445 * [backup-simplify]: Simplify phi1 into phi1 22.445 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.445 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.445 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.445 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 22.445 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.445 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.445 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.445 * [backup-simplify]: Simplify -0.5 into -0.5 22.445 * [taylor]: Taking taylor expansion of phi2 in phi2 22.445 * [backup-simplify]: Simplify 0 into 0 22.445 * [backup-simplify]: Simplify 1 into 1 22.446 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.446 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.446 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.446 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.446 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.446 * [backup-simplify]: Simplify -0.5 into -0.5 22.446 * [taylor]: Taking taylor expansion of phi1 in phi2 22.446 * [backup-simplify]: Simplify phi1 into phi1 22.446 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.446 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.446 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.446 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.447 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.447 * [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)) 22.447 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.447 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.448 * [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)) 22.449 * [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))) 22.449 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.449 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.449 * [backup-simplify]: Simplify (- 0) into 0 22.450 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.450 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.450 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.450 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.450 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 22.450 * [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)))) 22.451 * [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))))) 22.451 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.451 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.451 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.451 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.451 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.452 * [backup-simplify]: Simplify (- 0) into 0 22.452 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.452 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 22.452 * [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)))) 22.453 * [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))))) 22.454 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 22.455 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 22.457 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 22.459 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 22.461 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 22.462 * [backup-simplify]: Simplify (+ 0) into 0 22.463 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.463 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.464 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.464 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.465 * [backup-simplify]: Simplify (- 0) into 0 22.465 * [backup-simplify]: Simplify (+ 0 0) into 0 22.466 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.466 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.466 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.467 * [backup-simplify]: Simplify (+ 0) into 0 22.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.467 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.469 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.469 * [backup-simplify]: Simplify (+ 0 0) into 0 22.469 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.470 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.470 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.470 * [backup-simplify]: Simplify (+ 0 0) into 0 22.471 * [backup-simplify]: Simplify (+ 0) into 0 22.471 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.471 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.472 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.473 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.473 * [backup-simplify]: Simplify (+ 0 0) into 0 22.473 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.474 * [backup-simplify]: Simplify (+ 0) into 0 22.474 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.475 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.475 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.476 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.476 * [backup-simplify]: Simplify (- 0) into 0 22.477 * [backup-simplify]: Simplify (+ 0 0) into 0 22.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 22.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 22.478 * [backup-simplify]: Simplify (+ 0) into 0 22.478 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.478 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.479 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.480 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.480 * [backup-simplify]: Simplify (- 0) into 0 22.481 * [backup-simplify]: Simplify (+ 0 0) into 0 22.481 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.481 * [backup-simplify]: Simplify (+ 0) into 0 22.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.482 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.483 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.484 * [backup-simplify]: Simplify (+ 0 0) into 0 22.484 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 22.484 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 22.485 * [backup-simplify]: Simplify (+ 0 0) into 0 22.485 * [backup-simplify]: Simplify (- 0) into 0 22.486 * [backup-simplify]: Simplify (+ 0 0) into 0 22.490 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 22.492 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 22.492 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) in phi2 22.492 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in phi2 22.492 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.492 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.492 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.492 * [backup-simplify]: Simplify -0.5 into -0.5 22.492 * [taylor]: Taking taylor expansion of phi1 in phi2 22.493 * [backup-simplify]: Simplify phi1 into phi1 22.493 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.493 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.493 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.493 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in phi2 22.493 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.493 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.493 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.493 * [backup-simplify]: Simplify -0.5 into -0.5 22.493 * [taylor]: Taking taylor expansion of phi1 in phi2 22.493 * [backup-simplify]: Simplify phi1 into phi1 22.493 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.493 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.493 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.493 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in phi2 22.493 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.493 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.493 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.493 * [backup-simplify]: Simplify -0.5 into -0.5 22.494 * [taylor]: Taking taylor expansion of phi2 in phi2 22.494 * [backup-simplify]: Simplify 0 into 0 22.494 * [backup-simplify]: Simplify 1 into 1 22.494 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.494 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.494 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.494 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.494 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.495 * [backup-simplify]: Simplify -0.5 into -0.5 22.495 * [taylor]: Taking taylor expansion of phi2 in phi2 22.495 * [backup-simplify]: Simplify 0 into 0 22.495 * [backup-simplify]: Simplify 1 into 1 22.495 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.495 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.495 * [taylor]: Taking taylor expansion of R in phi2 22.495 * [backup-simplify]: Simplify R into R 22.495 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.496 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.496 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.496 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.496 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.496 * [backup-simplify]: Simplify (- 0) into 0 22.496 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.496 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 22.496 * [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)))) 22.497 * [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))))) 22.497 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) R) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) 22.497 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R)) in phi2 22.497 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 22.497 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 22.497 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 22.497 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 22.497 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 22.497 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 22.497 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.497 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.497 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.497 * [backup-simplify]: Simplify -0.5 into -0.5 22.497 * [taylor]: Taking taylor expansion of phi2 in phi2 22.497 * [backup-simplify]: Simplify 0 into 0 22.497 * [backup-simplify]: Simplify 1 into 1 22.498 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.498 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.498 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 22.498 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.498 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.498 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.498 * [backup-simplify]: Simplify -0.5 into -0.5 22.498 * [taylor]: Taking taylor expansion of phi1 in phi2 22.498 * [backup-simplify]: Simplify phi1 into phi1 22.498 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.498 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.498 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.498 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.498 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.499 * [backup-simplify]: Simplify (- 0) into 0 22.499 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.499 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 22.499 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 22.499 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.499 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.499 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.499 * [backup-simplify]: Simplify -0.5 into -0.5 22.499 * [taylor]: Taking taylor expansion of phi2 in phi2 22.499 * [backup-simplify]: Simplify 0 into 0 22.499 * [backup-simplify]: Simplify 1 into 1 22.499 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.499 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.499 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 22.499 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.499 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.499 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.499 * [backup-simplify]: Simplify -0.5 into -0.5 22.499 * [taylor]: Taking taylor expansion of phi1 in phi2 22.499 * [backup-simplify]: Simplify phi1 into phi1 22.499 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.499 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.499 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.500 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.500 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.500 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.500 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 22.500 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 22.500 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.500 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.500 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.500 * [backup-simplify]: Simplify -0.5 into -0.5 22.500 * [taylor]: Taking taylor expansion of phi2 in phi2 22.500 * [backup-simplify]: Simplify 0 into 0 22.500 * [backup-simplify]: Simplify 1 into 1 22.500 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.500 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.500 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 22.500 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.500 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.500 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.500 * [backup-simplify]: Simplify -0.5 into -0.5 22.500 * [taylor]: Taking taylor expansion of phi1 in phi2 22.500 * [backup-simplify]: Simplify phi1 into phi1 22.500 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.500 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.501 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.501 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 22.501 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.501 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.501 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.501 * [backup-simplify]: Simplify -0.5 into -0.5 22.501 * [taylor]: Taking taylor expansion of phi2 in phi2 22.501 * [backup-simplify]: Simplify 0 into 0 22.501 * [backup-simplify]: Simplify 1 into 1 22.501 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.501 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.501 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.501 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.501 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.501 * [backup-simplify]: Simplify -0.5 into -0.5 22.501 * [taylor]: Taking taylor expansion of phi1 in phi2 22.501 * [backup-simplify]: Simplify phi1 into phi1 22.501 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.501 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.501 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.501 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 22.501 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.501 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.501 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.501 * [backup-simplify]: Simplify -0.5 into -0.5 22.501 * [taylor]: Taking taylor expansion of phi2 in phi2 22.501 * [backup-simplify]: Simplify 0 into 0 22.501 * [backup-simplify]: Simplify 1 into 1 22.502 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.502 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.502 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 22.502 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.502 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.502 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.502 * [backup-simplify]: Simplify -0.5 into -0.5 22.502 * [taylor]: Taking taylor expansion of phi1 in phi2 22.502 * [backup-simplify]: Simplify phi1 into phi1 22.502 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.502 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.502 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.502 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 22.502 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.502 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.502 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.502 * [backup-simplify]: Simplify -0.5 into -0.5 22.502 * [taylor]: Taking taylor expansion of phi2 in phi2 22.502 * [backup-simplify]: Simplify 0 into 0 22.502 * [backup-simplify]: Simplify 1 into 1 22.503 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.503 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.503 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.503 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.503 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.503 * [backup-simplify]: Simplify -0.5 into -0.5 22.503 * [taylor]: Taking taylor expansion of phi1 in phi2 22.503 * [backup-simplify]: Simplify phi1 into phi1 22.503 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.503 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.503 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.503 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.503 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.503 * [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)) 22.503 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.504 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.504 * [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)) 22.504 * [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))) 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))) 22.504 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.504 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.505 * [backup-simplify]: Simplify (- 0) into 0 22.505 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.505 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.505 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.505 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.505 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 22.505 * [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)))) 22.505 * [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))))) 22.505 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.506 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.506 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.506 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.506 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.506 * [backup-simplify]: Simplify (- 0) into 0 22.506 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.506 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 22.506 * [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)))) 22.507 * [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))))) 22.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 22.507 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 22.509 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 22.510 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 22.511 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 22.511 * [backup-simplify]: Simplify (+ 0) into 0 22.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.512 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.513 * [backup-simplify]: Simplify (- 0) into 0 22.513 * [backup-simplify]: Simplify (+ 0 0) into 0 22.513 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.514 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.514 * [backup-simplify]: Simplify (+ 0) into 0 22.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.515 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.516 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.516 * [backup-simplify]: Simplify (+ 0 0) into 0 22.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.516 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.517 * [backup-simplify]: Simplify (+ 0 0) into 0 22.517 * [backup-simplify]: Simplify (+ 0) into 0 22.517 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.517 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.518 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.519 * [backup-simplify]: Simplify (+ 0 0) into 0 22.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.519 * [backup-simplify]: Simplify (+ 0) into 0 22.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.521 * [backup-simplify]: Simplify (- 0) into 0 22.521 * [backup-simplify]: Simplify (+ 0 0) into 0 22.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 22.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 22.521 * [backup-simplify]: Simplify (+ 0) into 0 22.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.522 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.523 * [backup-simplify]: Simplify (- 0) into 0 22.523 * [backup-simplify]: Simplify (+ 0 0) into 0 22.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.524 * [backup-simplify]: Simplify (+ 0) into 0 22.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.525 * [backup-simplify]: Simplify (+ 0 0) into 0 22.525 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 22.525 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 22.526 * [backup-simplify]: Simplify (+ 0 0) into 0 22.526 * [backup-simplify]: Simplify (- 0) into 0 22.526 * [backup-simplify]: Simplify (+ 0 0) into 0 22.529 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 22.530 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 22.530 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) in phi2 22.530 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi2 22.530 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.530 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.530 * [backup-simplify]: Simplify -0.5 into -0.5 22.530 * [taylor]: Taking taylor expansion of phi1 in phi2 22.530 * [backup-simplify]: Simplify phi1 into phi1 22.530 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.530 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.530 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi2 22.530 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.530 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.530 * [backup-simplify]: Simplify -0.5 into -0.5 22.530 * [taylor]: Taking taylor expansion of phi1 in phi2 22.530 * [backup-simplify]: Simplify phi1 into phi1 22.530 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.530 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.530 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi2 22.530 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.531 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.531 * [backup-simplify]: Simplify -0.5 into -0.5 22.531 * [taylor]: Taking taylor expansion of phi2 in phi2 22.531 * [backup-simplify]: Simplify 0 into 0 22.531 * [backup-simplify]: Simplify 1 into 1 22.531 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.531 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.531 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.531 * [backup-simplify]: Simplify -0.5 into -0.5 22.531 * [taylor]: Taking taylor expansion of phi2 in phi2 22.531 * [backup-simplify]: Simplify 0 into 0 22.531 * [backup-simplify]: Simplify 1 into 1 22.532 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.532 * [taylor]: Taking taylor expansion of R in phi2 22.532 * [backup-simplify]: Simplify R into R 22.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.532 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.532 * [backup-simplify]: Simplify (- 0) into 0 22.532 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.532 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.532 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 22.533 * [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)))) 22.533 * [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))))) 22.533 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) 22.534 * [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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 1 R)) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 1 R)) 22.536 * [backup-simplify]: Simplify (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 1 R))) into (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 1 R))) 22.536 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 1 R))) in phi2 22.536 * [taylor]: Taking taylor expansion of -1 in phi2 22.536 * [backup-simplify]: Simplify -1 into -1 22.536 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 1 R)) in phi2 22.537 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 22.537 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 22.537 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 22.537 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 22.537 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 22.537 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.537 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.537 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.537 * [backup-simplify]: Simplify -0.5 into -0.5 22.537 * [taylor]: Taking taylor expansion of phi2 in phi2 22.537 * [backup-simplify]: Simplify 0 into 0 22.537 * [backup-simplify]: Simplify 1 into 1 22.537 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.538 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.538 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 22.538 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.538 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.538 * [backup-simplify]: Simplify -0.5 into -0.5 22.538 * [taylor]: Taking taylor expansion of phi1 in phi2 22.538 * [backup-simplify]: Simplify phi1 into phi1 22.538 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.538 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.538 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.538 * [backup-simplify]: Simplify (- 0) into 0 22.538 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.538 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 22.538 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 22.538 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.538 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.538 * [backup-simplify]: Simplify -0.5 into -0.5 22.539 * [taylor]: Taking taylor expansion of phi2 in phi2 22.539 * [backup-simplify]: Simplify 0 into 0 22.539 * [backup-simplify]: Simplify 1 into 1 22.539 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.539 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.539 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 22.539 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.539 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.539 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.539 * [backup-simplify]: Simplify -0.5 into -0.5 22.539 * [taylor]: Taking taylor expansion of phi1 in phi2 22.539 * [backup-simplify]: Simplify phi1 into phi1 22.539 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.539 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.539 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.539 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.539 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 22.540 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 22.540 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.540 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.540 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.540 * [backup-simplify]: Simplify -0.5 into -0.5 22.540 * [taylor]: Taking taylor expansion of phi1 in phi2 22.540 * [backup-simplify]: Simplify phi1 into phi1 22.540 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.540 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.540 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.540 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 22.540 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.540 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.540 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.540 * [backup-simplify]: Simplify -0.5 into -0.5 22.540 * [taylor]: Taking taylor expansion of phi2 in phi2 22.540 * [backup-simplify]: Simplify 0 into 0 22.540 * [backup-simplify]: Simplify 1 into 1 22.541 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.541 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 22.541 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.541 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.541 * [backup-simplify]: Simplify -0.5 into -0.5 22.541 * [taylor]: Taking taylor expansion of phi2 in phi2 22.541 * [backup-simplify]: Simplify 0 into 0 22.541 * [backup-simplify]: Simplify 1 into 1 22.541 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.541 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.542 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.542 * [backup-simplify]: Simplify -0.5 into -0.5 22.542 * [taylor]: Taking taylor expansion of phi1 in phi2 22.542 * [backup-simplify]: Simplify phi1 into phi1 22.542 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.542 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.542 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.542 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 22.542 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 22.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.542 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.542 * [backup-simplify]: Simplify -0.5 into -0.5 22.542 * [taylor]: Taking taylor expansion of phi1 in phi2 22.542 * [backup-simplify]: Simplify phi1 into phi1 22.542 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.542 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.542 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.542 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 22.542 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 22.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.542 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.542 * [backup-simplify]: Simplify -0.5 into -0.5 22.543 * [taylor]: Taking taylor expansion of phi2 in phi2 22.543 * [backup-simplify]: Simplify 0 into 0 22.543 * [backup-simplify]: Simplify 1 into 1 22.543 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.543 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.543 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 22.543 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 22.543 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 22.543 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.543 * [backup-simplify]: Simplify -0.5 into -0.5 22.543 * [taylor]: Taking taylor expansion of phi2 in phi2 22.543 * [backup-simplify]: Simplify 0 into 0 22.543 * [backup-simplify]: Simplify 1 into 1 22.544 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 22.544 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.544 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 22.544 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 22.544 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.544 * [backup-simplify]: Simplify -0.5 into -0.5 22.544 * [taylor]: Taking taylor expansion of phi1 in phi2 22.544 * [backup-simplify]: Simplify phi1 into phi1 22.544 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.544 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.544 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.545 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.545 * [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)) 22.545 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.545 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.546 * [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)) 22.546 * [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))) 22.547 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.547 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.547 * [backup-simplify]: Simplify (- 0) into 0 22.547 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.547 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.548 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 22.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 22.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 22.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.549 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.550 * [backup-simplify]: Simplify (- 0) into 0 22.550 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 22.550 * [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)))) 22.551 * [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))))) 22.551 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 22.552 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 22.554 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 22.557 * [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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 22.564 * [backup-simplify]: Simplify (+ 0) into 0 22.565 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.566 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.567 * [backup-simplify]: Simplify (- 0) into 0 22.568 * [backup-simplify]: Simplify (+ 0 0) into 0 22.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.569 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.569 * [backup-simplify]: Simplify (+ 0) into 0 22.570 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.570 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.571 * [backup-simplify]: Simplify (+ 0 0) into 0 22.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.572 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.573 * [backup-simplify]: Simplify (+ 0 0) into 0 22.573 * [backup-simplify]: Simplify (+ 0) into 0 22.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.574 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.575 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.575 * [backup-simplify]: Simplify (+ 0 0) into 0 22.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 22.576 * [backup-simplify]: Simplify (+ 0) into 0 22.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.577 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.578 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.579 * [backup-simplify]: Simplify (- 0) into 0 22.579 * [backup-simplify]: Simplify (+ 0 0) into 0 22.579 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 22.580 * [backup-simplify]: Simplify (+ 0) into 0 22.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.580 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.582 * [backup-simplify]: Simplify (- 0) into 0 22.582 * [backup-simplify]: Simplify (+ 0 0) into 0 22.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 22.583 * [backup-simplify]: Simplify (+ 0) into 0 22.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.584 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.586 * [backup-simplify]: Simplify (+ 0 0) into 0 22.586 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 22.587 * [backup-simplify]: Simplify (+ 0 0) into 0 22.587 * [backup-simplify]: Simplify (- 0) into 0 22.587 * [backup-simplify]: Simplify (+ 0 0) into 0 22.589 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) into 0 22.589 * [taylor]: Taking taylor expansion of (/ 1 R) in phi2 22.589 * [taylor]: Taking taylor expansion of R in phi2 22.590 * [backup-simplify]: Simplify R into R 22.590 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 22.591 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 22.592 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 22.593 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 22.594 * [backup-simplify]: Simplify (- 0) into 0 22.595 * [backup-simplify]: Simplify (+ 0 0) into 0 22.595 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.596 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 22.596 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 22.597 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.598 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 22.598 * [backup-simplify]: Simplify (- 0) into 0 22.598 * [backup-simplify]: Simplify (+ 0 0) into 0 22.599 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 22.600 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.601 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 22.601 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 22.601 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.602 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 22.602 * [backup-simplify]: Simplify (+ 0 0) into 0 22.602 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.603 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 22.603 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 22.604 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 22.604 * [backup-simplify]: Simplify (+ 0 0) into 0 22.605 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 22.605 * [backup-simplify]: Simplify (- 0) into 0 22.605 * [backup-simplify]: Simplify (+ 0 0) into 0 22.605 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 22.606 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 22.606 * [backup-simplify]: Simplify (- 0) into 0 22.606 * [backup-simplify]: Simplify (+ 0 0) into 0 22.607 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 22.607 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.608 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 22.608 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 22.609 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.609 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 22.609 * [backup-simplify]: Simplify (- 0) into 0 22.610 * [backup-simplify]: Simplify (+ 0 0) into 0 22.610 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 22.611 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 22.611 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.612 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 22.612 * [backup-simplify]: Simplify (- 0) into 0 22.612 * [backup-simplify]: Simplify (+ 0 0) into 0 22.613 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 22.613 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.614 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 22.614 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 22.614 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 22.615 * [backup-simplify]: Simplify (+ 0 0) into 0 22.615 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.616 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 22.616 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 22.617 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.617 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 22.617 * [backup-simplify]: Simplify (+ 0 0) into 0 22.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 22.618 * [backup-simplify]: Simplify (- 0) into 0 22.618 * [backup-simplify]: Simplify (+ 0 0) into 0 22.618 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 22.619 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 22.619 * [backup-simplify]: Simplify (- 0) into 0 22.619 * [backup-simplify]: Simplify (+ 0 0) into 0 22.620 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 22.621 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) (+ (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* 0 (* -1 (- (* (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 lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)))) 22.621 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 22.621 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 22.621 * [backup-simplify]: Simplify (- (/ 1 phi1)) into (- (/ 1 phi1)) 22.621 * [backup-simplify]: Simplify (+ (/ 1 phi2) (- (/ 1 phi1))) into (- (/ 1 phi2) (/ 1 phi1)) 22.622 * [backup-simplify]: Simplify (* (- (/ 1 phi2) (/ 1 phi1)) (- (/ 1 phi2) (/ 1 phi1))) into (pow (- (/ 1 phi2) (/ 1 phi1)) 2) 22.623 * [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 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)))) (pow (- (/ 1 phi2) (/ 1 phi1)) 2)) into (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 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 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ 1 (* phi2 phi1)))))) 22.632 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 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 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ 1 (* phi2 phi1)))))) (pow (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (cos (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ 1 (pow phi2 2)) (+ (* 3 (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi1)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2)))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (* 3 (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))))))))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 3 (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2)))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))) (* 3 (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) 22.671 * [backup-simplify]: Simplify (- (/ (* 1/2 (* (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (cos (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ 1 (pow phi2 2)) (+ (* 3 (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi1)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2)))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (* 3 (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))))))))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 3 (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2)))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))) (* 3 (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) R) (+ (* (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 1 R)) (/ 0 R)) (* (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (/ 0 R)))) into (- (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))) 22.737 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ 1 (* phi2 (* R phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))) (+ (* 0 (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 1 R))))) into (- (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))))) (+ (* 3/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ 1 (* (pow phi1 2) R)))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))))))))))) 22.739 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))))) (+ (* 3/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ 1 (* (pow phi1 2) R)))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))))))))))) in lambda2 22.740 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))))) in lambda2 22.740 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) in lambda2 22.740 * [taylor]: Taking taylor expansion of 1/2 in lambda2 22.740 * [backup-simplify]: Simplify 1/2 into 1/2 22.740 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))) in lambda2 22.740 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) in lambda2 22.740 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) in lambda2 22.740 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2 22.740 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.740 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.740 * [backup-simplify]: Simplify -0.5 into -0.5 22.740 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.740 * [backup-simplify]: Simplify phi2 into phi2 22.740 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.741 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.742 * [backup-simplify]: Simplify (- 0) into 0 22.742 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.742 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2 22.742 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.742 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.742 * [backup-simplify]: Simplify -0.5 into -0.5 22.742 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.742 * [backup-simplify]: Simplify phi1 into phi1 22.742 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.742 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.742 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.743 * [backup-simplify]: Simplify (- 0) into 0 22.743 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.743 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 22.743 * [taylor]: Taking taylor expansion of R in lambda2 22.743 * [backup-simplify]: Simplify R into R 22.743 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 22.743 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.743 * [backup-simplify]: Simplify 0 into 0 22.743 * [backup-simplify]: Simplify 1 into 1 22.743 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.744 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4) 22.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.744 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4) 22.745 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) into (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) 22.745 * [backup-simplify]: Simplify (* 1 1) into 1 22.745 * [backup-simplify]: Simplify (* R 1) into R 22.746 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) 22.746 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))) in lambda2 22.746 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)) in lambda2 22.746 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) in lambda2 22.746 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 22.746 * [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 22.746 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 22.746 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 22.746 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.746 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.746 * [backup-simplify]: Simplify -0.5 into -0.5 22.746 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.746 * [backup-simplify]: Simplify phi2 into phi2 22.746 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.747 * [backup-simplify]: Simplify (- 0) into 0 22.747 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.747 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 22.747 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.747 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.747 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.747 * [backup-simplify]: Simplify -0.5 into -0.5 22.747 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.747 * [backup-simplify]: Simplify phi1 into phi1 22.747 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.748 * [backup-simplify]: Simplify (- 0) into 0 22.748 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.748 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 22.749 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 22.749 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.749 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.749 * [backup-simplify]: Simplify -0.5 into -0.5 22.749 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.749 * [backup-simplify]: Simplify phi2 into phi2 22.749 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.749 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.749 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 22.749 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.749 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.749 * [backup-simplify]: Simplify -0.5 into -0.5 22.749 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.749 * [backup-simplify]: Simplify phi1 into phi1 22.750 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.750 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.750 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 22.750 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 22.750 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.750 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.750 * [backup-simplify]: Simplify -0.5 into -0.5 22.750 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.751 * [backup-simplify]: Simplify phi2 into phi2 22.751 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.751 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.751 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.751 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 22.751 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.751 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.751 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.751 * [backup-simplify]: Simplify -0.5 into -0.5 22.751 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.751 * [backup-simplify]: Simplify phi2 into phi2 22.751 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.751 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.751 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.751 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 22.751 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.751 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.751 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.751 * [backup-simplify]: Simplify -0.5 into -0.5 22.751 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.751 * [backup-simplify]: Simplify phi1 into phi1 22.751 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.752 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.752 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.752 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.752 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.752 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.752 * [backup-simplify]: Simplify -0.5 into -0.5 22.752 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.752 * [backup-simplify]: Simplify phi1 into phi1 22.752 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.752 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.752 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.752 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 22.752 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.752 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.752 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.752 * [backup-simplify]: Simplify -0.5 into -0.5 22.752 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.752 * [backup-simplify]: Simplify phi2 into phi2 22.752 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.752 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.753 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.753 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 22.753 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.753 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.753 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.753 * [backup-simplify]: Simplify -0.5 into -0.5 22.753 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.753 * [backup-simplify]: Simplify phi2 into phi2 22.753 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.753 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.753 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.753 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 22.753 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.753 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.753 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.753 * [backup-simplify]: Simplify -0.5 into -0.5 22.753 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.753 * [backup-simplify]: Simplify phi1 into phi1 22.753 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.753 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.753 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.753 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.754 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.754 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.754 * [backup-simplify]: Simplify -0.5 into -0.5 22.754 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.754 * [backup-simplify]: Simplify phi1 into phi1 22.754 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.754 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.754 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.755 * [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)) 22.755 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.755 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.755 * [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)) 22.756 * [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))) 22.756 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.756 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.757 * [backup-simplify]: Simplify (- 0) into 0 22.757 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.757 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.757 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.758 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.758 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.758 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.758 * [backup-simplify]: Simplify (- 0) into 0 22.758 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.758 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.759 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 22.759 * [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)))) 22.760 * [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))))) 22.760 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.760 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.760 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.760 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.760 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.761 * [backup-simplify]: Simplify (- 0) into 0 22.761 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.762 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.762 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.762 * [backup-simplify]: Simplify (- 0) into 0 22.762 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.763 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 22.763 * [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)))) 22.763 * [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))))) 22.764 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 22.765 * [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))))))) 22.767 * [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))))))) 22.771 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 22.774 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 22.776 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 22.778 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (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))))))))) (/ 1 (- (+ (* (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))))))))) 22.779 * [backup-simplify]: Simplify (+ 0) into 0 22.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.779 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.780 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.780 * [backup-simplify]: Simplify (- 0) into 0 22.781 * [backup-simplify]: Simplify (+ 0 0) into 0 22.781 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.781 * [backup-simplify]: Simplify (+ 0) into 0 22.781 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.782 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.782 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.783 * [backup-simplify]: Simplify (- 0) into 0 22.783 * [backup-simplify]: Simplify (+ 0 0) into 0 22.783 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.783 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.784 * [backup-simplify]: Simplify (+ 0) into 0 22.784 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.784 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.785 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.785 * [backup-simplify]: Simplify (+ 0 0) into 0 22.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.786 * [backup-simplify]: Simplify (+ 0) into 0 22.786 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.786 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.786 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.787 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.787 * [backup-simplify]: Simplify (+ 0 0) into 0 22.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.787 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.788 * [backup-simplify]: Simplify (+ 0 0) into 0 22.788 * [backup-simplify]: Simplify (+ 0) into 0 22.788 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.788 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.790 * [backup-simplify]: Simplify (+ 0 0) into 0 22.790 * [backup-simplify]: Simplify (+ 0) into 0 22.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.790 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.791 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.791 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.791 * [backup-simplify]: Simplify (- 0) into 0 22.792 * [backup-simplify]: Simplify (+ 0 0) into 0 22.792 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.792 * [backup-simplify]: Simplify (+ 0) into 0 22.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.792 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.793 * [backup-simplify]: Simplify (+ 0 0) into 0 22.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 22.794 * [backup-simplify]: Simplify (+ 0) into 0 22.794 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.794 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.795 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.795 * [backup-simplify]: Simplify (- 0) into 0 22.796 * [backup-simplify]: Simplify (+ 0 0) into 0 22.796 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 22.796 * [backup-simplify]: Simplify (+ 0) into 0 22.796 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.797 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.797 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.798 * [backup-simplify]: Simplify (- 0) into 0 22.798 * [backup-simplify]: Simplify (+ 0 0) into 0 22.798 * [backup-simplify]: Simplify (+ 0) into 0 22.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.799 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.799 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.800 * [backup-simplify]: Simplify (+ 0 0) into 0 22.800 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.800 * [backup-simplify]: Simplify (+ 0) into 0 22.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.800 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.805 * [backup-simplify]: Simplify (- 0) into 0 22.806 * [backup-simplify]: Simplify (+ 0 0) into 0 22.806 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 22.806 * [backup-simplify]: Simplify (+ 0) into 0 22.806 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.807 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.807 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.808 * [backup-simplify]: Simplify (+ 0 0) into 0 22.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 22.808 * [backup-simplify]: Simplify (+ 0 0) into 0 22.809 * [backup-simplify]: Simplify (- 0) into 0 22.809 * [backup-simplify]: Simplify (+ 0 0) into 0 22.813 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 22.817 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 22.826 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 22.830 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 22.830 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))))) in lambda2 22.831 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) in lambda2 22.831 * [taylor]: Taking taylor expansion of 3/2 in lambda2 22.831 * [backup-simplify]: Simplify 3/2 into 3/2 22.831 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))) in lambda2 22.831 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (pow lambda2 2))) in lambda2 22.831 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) in lambda2 22.831 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 22.831 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.831 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.831 * [backup-simplify]: Simplify -0.5 into -0.5 22.831 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.831 * [backup-simplify]: Simplify phi1 into phi1 22.831 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.832 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.832 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) in lambda2 22.832 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 22.832 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.832 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.832 * [backup-simplify]: Simplify -0.5 into -0.5 22.832 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.832 * [backup-simplify]: Simplify phi2 into phi2 22.832 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.833 * [backup-simplify]: Simplify (- 0) into 0 22.833 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.833 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) in lambda2 22.833 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 22.833 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.833 * [backup-simplify]: Simplify -0.5 into -0.5 22.834 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.834 * [backup-simplify]: Simplify phi1 into phi1 22.834 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.834 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.834 * [backup-simplify]: Simplify (- 0) into 0 22.835 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.835 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 22.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.835 * [backup-simplify]: Simplify -0.5 into -0.5 22.835 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.835 * [backup-simplify]: Simplify phi2 into phi2 22.835 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.835 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.835 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.835 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.835 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 22.835 * [taylor]: Taking taylor expansion of R in lambda2 22.835 * [backup-simplify]: Simplify R into R 22.835 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 22.835 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.836 * [backup-simplify]: Simplify 0 into 0 22.836 * [backup-simplify]: Simplify 1 into 1 22.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.836 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) 22.837 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) 22.837 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) into (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) 22.837 * [backup-simplify]: Simplify (* 1 1) into 1 22.837 * [backup-simplify]: Simplify (* R 1) into R 22.838 * [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)))) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) R) 22.838 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))) in lambda2 22.838 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)) in lambda2 22.838 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) in lambda2 22.838 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 22.838 * [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 22.838 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 22.838 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 22.838 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.838 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.838 * [backup-simplify]: Simplify -0.5 into -0.5 22.838 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.838 * [backup-simplify]: Simplify phi2 into phi2 22.838 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.839 * [backup-simplify]: Simplify (- 0) into 0 22.839 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.839 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 22.839 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.839 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.839 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.839 * [backup-simplify]: Simplify -0.5 into -0.5 22.839 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.839 * [backup-simplify]: Simplify phi1 into phi1 22.839 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.839 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.839 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.840 * [backup-simplify]: Simplify (- 0) into 0 22.840 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.840 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 22.840 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 22.840 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.840 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.840 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.840 * [backup-simplify]: Simplify -0.5 into -0.5 22.840 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.840 * [backup-simplify]: Simplify phi2 into phi2 22.840 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.840 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.840 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.840 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.840 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 22.840 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.840 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.840 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.840 * [backup-simplify]: Simplify -0.5 into -0.5 22.840 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.840 * [backup-simplify]: Simplify phi1 into phi1 22.840 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.840 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.840 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.841 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.841 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 22.841 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 22.841 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.841 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.841 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.841 * [backup-simplify]: Simplify -0.5 into -0.5 22.841 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.841 * [backup-simplify]: Simplify phi2 into phi2 22.841 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.841 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.841 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.841 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 22.841 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.841 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.841 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.841 * [backup-simplify]: Simplify -0.5 into -0.5 22.841 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.841 * [backup-simplify]: Simplify phi2 into phi2 22.841 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.841 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.841 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.841 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 22.841 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.841 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.841 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.841 * [backup-simplify]: Simplify -0.5 into -0.5 22.841 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.841 * [backup-simplify]: Simplify phi1 into phi1 22.841 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.841 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.841 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.841 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.842 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.842 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.842 * [backup-simplify]: Simplify -0.5 into -0.5 22.842 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.842 * [backup-simplify]: Simplify phi1 into phi1 22.842 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.842 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.842 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.842 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 22.842 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.842 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.842 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.842 * [backup-simplify]: Simplify -0.5 into -0.5 22.842 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.842 * [backup-simplify]: Simplify phi2 into phi2 22.842 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.842 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.842 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.842 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 22.842 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.842 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.842 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.842 * [backup-simplify]: Simplify -0.5 into -0.5 22.842 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.842 * [backup-simplify]: Simplify phi2 into phi2 22.842 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.842 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.842 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.842 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 22.842 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.842 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.842 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.842 * [backup-simplify]: Simplify -0.5 into -0.5 22.842 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.842 * [backup-simplify]: Simplify phi1 into phi1 22.842 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.842 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.843 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.843 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.843 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.843 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.843 * [backup-simplify]: Simplify -0.5 into -0.5 22.843 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.843 * [backup-simplify]: Simplify phi1 into phi1 22.843 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.843 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.843 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.843 * [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)) 22.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.844 * [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)) 22.844 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 22.844 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.844 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.845 * [backup-simplify]: Simplify (- 0) into 0 22.845 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.845 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.845 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.845 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.845 * [backup-simplify]: Simplify (- 0) into 0 22.845 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.845 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.846 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 22.846 * [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)))) 22.846 * [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))))) 22.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.846 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.847 * [backup-simplify]: Simplify (- 0) into 0 22.847 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.847 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.847 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.847 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.847 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.847 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.847 * [backup-simplify]: Simplify (- 0) into 0 22.847 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.847 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 22.848 * [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)))) 22.848 * [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))))) 22.848 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 22.849 * [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))))))) 22.850 * [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))))))) 22.852 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 22.854 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 22.856 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 22.858 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (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))))))))) (/ 1 (- (+ (* (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))))))))) 22.859 * [backup-simplify]: Simplify (+ 0) into 0 22.859 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.859 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.860 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.861 * [backup-simplify]: Simplify (- 0) into 0 22.861 * [backup-simplify]: Simplify (+ 0 0) into 0 22.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.861 * [backup-simplify]: Simplify (+ 0) into 0 22.862 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.863 * [backup-simplify]: Simplify (- 0) into 0 22.863 * [backup-simplify]: Simplify (+ 0 0) into 0 22.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.863 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.864 * [backup-simplify]: Simplify (+ 0) into 0 22.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.864 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.865 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.865 * [backup-simplify]: Simplify (+ 0 0) into 0 22.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.866 * [backup-simplify]: Simplify (+ 0) into 0 22.866 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.866 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.867 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.867 * [backup-simplify]: Simplify (+ 0 0) into 0 22.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.867 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.868 * [backup-simplify]: Simplify (+ 0 0) into 0 22.868 * [backup-simplify]: Simplify (+ 0) into 0 22.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.869 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.870 * [backup-simplify]: Simplify (+ 0 0) into 0 22.871 * [backup-simplify]: Simplify (+ 0) into 0 22.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.871 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.872 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.873 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.873 * [backup-simplify]: Simplify (- 0) into 0 22.874 * [backup-simplify]: Simplify (+ 0 0) into 0 22.874 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.874 * [backup-simplify]: Simplify (+ 0) into 0 22.875 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.877 * [backup-simplify]: Simplify (+ 0 0) into 0 22.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 22.877 * [backup-simplify]: Simplify (+ 0) into 0 22.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.878 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.880 * [backup-simplify]: Simplify (- 0) into 0 22.880 * [backup-simplify]: Simplify (+ 0 0) into 0 22.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 22.881 * [backup-simplify]: Simplify (+ 0) into 0 22.882 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.882 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.883 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.884 * [backup-simplify]: Simplify (- 0) into 0 22.884 * [backup-simplify]: Simplify (+ 0 0) into 0 22.885 * [backup-simplify]: Simplify (+ 0) into 0 22.885 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.885 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.886 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.887 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.887 * [backup-simplify]: Simplify (+ 0 0) into 0 22.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.888 * [backup-simplify]: Simplify (+ 0) into 0 22.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.889 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.890 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.890 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.890 * [backup-simplify]: Simplify (- 0) into 0 22.891 * [backup-simplify]: Simplify (+ 0 0) into 0 22.891 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 22.892 * [backup-simplify]: Simplify (+ 0) into 0 22.892 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.892 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.894 * [backup-simplify]: Simplify (+ 0 0) into 0 22.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 22.895 * [backup-simplify]: Simplify (+ 0 0) into 0 22.895 * [backup-simplify]: Simplify (- 0) into 0 22.896 * [backup-simplify]: Simplify (+ 0 0) into 0 22.900 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 22.904 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 22.914 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 22.919 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 22.919 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))) in lambda2 22.919 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in lambda2 22.920 * [taylor]: Taking taylor expansion of 1/2 in lambda2 22.920 * [backup-simplify]: Simplify 1/2 into 1/2 22.920 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in lambda2 22.920 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* R (pow lambda2 2))) in lambda2 22.920 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in lambda2 22.920 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.920 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.920 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.920 * [backup-simplify]: Simplify -0.5 into -0.5 22.920 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.920 * [backup-simplify]: Simplify phi1 into phi1 22.920 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.920 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.920 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.920 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in lambda2 22.920 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.920 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.920 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.920 * [backup-simplify]: Simplify -0.5 into -0.5 22.920 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.920 * [backup-simplify]: Simplify phi1 into phi1 22.921 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.921 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.921 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.921 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in lambda2 22.921 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.921 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.921 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.921 * [backup-simplify]: Simplify -0.5 into -0.5 22.921 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.921 * [backup-simplify]: Simplify phi2 into phi2 22.921 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.921 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.921 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.921 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.921 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.921 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.921 * [backup-simplify]: Simplify -0.5 into -0.5 22.921 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.921 * [backup-simplify]: Simplify phi2 into phi2 22.921 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.922 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.922 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.922 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 22.922 * [taylor]: Taking taylor expansion of R in lambda2 22.922 * [backup-simplify]: Simplify R into R 22.922 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 22.922 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.922 * [backup-simplify]: Simplify 0 into 0 22.922 * [backup-simplify]: Simplify 1 into 1 22.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.923 * [backup-simplify]: Simplify (- 0) into 0 22.923 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.923 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.923 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.923 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.923 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.924 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.924 * [backup-simplify]: Simplify (- 0) into 0 22.924 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.924 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.924 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.924 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.925 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 22.925 * [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)))) 22.925 * [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))))) 22.926 * [backup-simplify]: Simplify (* 1 1) into 1 22.926 * [backup-simplify]: Simplify (* R 1) into R 22.926 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) 22.926 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in lambda2 22.926 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in lambda2 22.926 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 22.927 * [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 22.927 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 22.927 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 22.927 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.927 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.927 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.927 * [backup-simplify]: Simplify -0.5 into -0.5 22.927 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.927 * [backup-simplify]: Simplify phi2 into phi2 22.927 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.927 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.927 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.928 * [backup-simplify]: Simplify (- 0) into 0 22.928 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.928 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 22.928 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.928 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.928 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.928 * [backup-simplify]: Simplify -0.5 into -0.5 22.928 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.928 * [backup-simplify]: Simplify phi1 into phi1 22.928 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.928 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.928 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.929 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.929 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.929 * [backup-simplify]: Simplify (- 0) into 0 22.929 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.929 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 22.929 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 22.929 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.929 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.929 * [backup-simplify]: Simplify -0.5 into -0.5 22.929 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.929 * [backup-simplify]: Simplify phi2 into phi2 22.930 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.930 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.930 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.930 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.930 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.930 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 22.930 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.930 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.930 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.930 * [backup-simplify]: Simplify -0.5 into -0.5 22.930 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.930 * [backup-simplify]: Simplify phi1 into phi1 22.930 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.930 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.931 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.931 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.931 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.931 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.931 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 22.931 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 22.931 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.931 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.931 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.931 * [backup-simplify]: Simplify -0.5 into -0.5 22.931 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.931 * [backup-simplify]: Simplify phi2 into phi2 22.931 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.931 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.931 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.931 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 22.932 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.932 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.932 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.932 * [backup-simplify]: Simplify -0.5 into -0.5 22.932 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.932 * [backup-simplify]: Simplify phi2 into phi2 22.932 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.932 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.932 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.932 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 22.932 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.932 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.932 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.932 * [backup-simplify]: Simplify -0.5 into -0.5 22.932 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.932 * [backup-simplify]: Simplify phi1 into phi1 22.932 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.932 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.932 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.932 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.932 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.933 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.933 * [backup-simplify]: Simplify -0.5 into -0.5 22.933 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.933 * [backup-simplify]: Simplify phi1 into phi1 22.933 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.933 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.933 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.933 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 22.933 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.933 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.933 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.933 * [backup-simplify]: Simplify -0.5 into -0.5 22.933 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.933 * [backup-simplify]: Simplify phi2 into phi2 22.933 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.933 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.933 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.933 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 22.933 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.933 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.933 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.933 * [backup-simplify]: Simplify -0.5 into -0.5 22.934 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.934 * [backup-simplify]: Simplify phi2 into phi2 22.934 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.934 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.934 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.934 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 22.934 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.934 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.934 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.934 * [backup-simplify]: Simplify -0.5 into -0.5 22.934 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.934 * [backup-simplify]: Simplify phi1 into phi1 22.934 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.934 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.934 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.934 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.934 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.934 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.934 * [backup-simplify]: Simplify -0.5 into -0.5 22.934 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.934 * [backup-simplify]: Simplify phi1 into phi1 22.935 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.935 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.935 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.935 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.935 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.936 * [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)) 22.936 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.936 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.936 * [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)) 22.937 * [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))) 22.937 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.937 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.938 * [backup-simplify]: Simplify (- 0) into 0 22.938 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.938 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.938 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.939 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.939 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.939 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.939 * [backup-simplify]: Simplify (- 0) into 0 22.939 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.939 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.940 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.940 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.940 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 22.940 * [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)))) 22.941 * [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))))) 22.941 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.941 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.941 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.941 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.942 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.942 * [backup-simplify]: Simplify (- 0) into 0 22.942 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.942 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.942 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.943 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.943 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.943 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.943 * [backup-simplify]: Simplify (- 0) into 0 22.943 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.943 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 22.944 * [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)))) 22.944 * [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))))) 22.945 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 22.946 * [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))))))) 22.948 * [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))))))) 22.950 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 22.953 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 22.953 * [backup-simplify]: Simplify (+ 0) into 0 22.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.954 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.956 * [backup-simplify]: Simplify (- 0) into 0 22.956 * [backup-simplify]: Simplify (+ 0 0) into 0 22.956 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.957 * [backup-simplify]: Simplify (+ 0) into 0 22.957 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.957 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.958 * [backup-simplify]: Simplify (- 0) into 0 22.958 * [backup-simplify]: Simplify (+ 0 0) into 0 22.959 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 22.959 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 22.959 * [backup-simplify]: Simplify (+ 0) into 0 22.959 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.960 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.960 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.961 * [backup-simplify]: Simplify (+ 0 0) into 0 22.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 22.961 * [backup-simplify]: Simplify (+ 0) into 0 22.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.961 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.962 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.962 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.963 * [backup-simplify]: Simplify (+ 0 0) into 0 22.963 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 22.963 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 22.968 * [backup-simplify]: Simplify (+ 0 0) into 0 22.969 * [backup-simplify]: Simplify (+ 0) into 0 22.969 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.969 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.970 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.970 * [backup-simplify]: Simplify (+ 0 0) into 0 22.970 * [backup-simplify]: Simplify (+ 0) into 0 22.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.971 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.972 * [backup-simplify]: Simplify (- 0) into 0 22.972 * [backup-simplify]: Simplify (+ 0 0) into 0 22.972 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) 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 phi2) (+ (* (/ -0.5 phi2) (/ 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 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 22.974 * [backup-simplify]: Simplify (+ 0) into 0 22.975 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.975 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.975 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.976 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.976 * [backup-simplify]: Simplify (- 0) into 0 22.976 * [backup-simplify]: Simplify (+ 0 0) into 0 22.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 22.977 * [backup-simplify]: Simplify (+ 0) into 0 22.977 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.977 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.977 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.978 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.978 * [backup-simplify]: Simplify (- 0) into 0 22.978 * [backup-simplify]: Simplify (+ 0 0) into 0 22.979 * [backup-simplify]: Simplify (+ 0) into 0 22.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 22.979 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 22.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 22.980 * [backup-simplify]: Simplify (+ 0 0) into 0 22.980 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 22.980 * [backup-simplify]: Simplify (+ 0) into 0 22.981 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.981 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.981 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.982 * [backup-simplify]: Simplify (- 0) into 0 22.982 * [backup-simplify]: Simplify (+ 0 0) into 0 22.982 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 22.983 * [backup-simplify]: Simplify (+ 0) into 0 22.983 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 22.983 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 22.984 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.984 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 22.984 * [backup-simplify]: Simplify (+ 0 0) into 0 22.984 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 22.985 * [backup-simplify]: Simplify (+ 0 0) into 0 22.985 * [backup-simplify]: Simplify (- 0) into 0 22.986 * [backup-simplify]: Simplify (+ 0 0) into 0 22.989 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 22.992 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 22.992 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))) in lambda2 22.992 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) in lambda2 22.992 * [taylor]: Taking taylor expansion of 3/2 in lambda2 22.992 * [backup-simplify]: Simplify 3/2 into 3/2 22.992 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))) in lambda2 22.992 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (pow lambda2 2))) in lambda2 22.992 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) in lambda2 22.992 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 22.992 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 22.992 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.992 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.992 * [backup-simplify]: Simplify -0.5 into -0.5 22.992 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.992 * [backup-simplify]: Simplify phi2 into phi2 22.993 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.993 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.993 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.993 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 22.993 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 22.993 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 22.993 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2 22.993 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 22.993 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 22.993 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.993 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.993 * [backup-simplify]: Simplify -0.5 into -0.5 22.993 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.993 * [backup-simplify]: Simplify phi1 into phi1 22.993 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.993 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.994 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.994 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 22.994 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 22.994 * [backup-simplify]: Simplify (- 0) into 0 22.995 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 22.995 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 22.995 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 22.995 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 22.995 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 22.995 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.995 * [backup-simplify]: Simplify -0.5 into -0.5 22.995 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.995 * [backup-simplify]: Simplify phi2 into phi2 22.995 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 22.995 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 22.995 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 22.995 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 22.995 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 22.996 * [backup-simplify]: Simplify (- 0) into 0 22.996 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 22.996 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 22.996 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 22.996 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 22.996 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.996 * [backup-simplify]: Simplify -0.5 into -0.5 22.996 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.996 * [backup-simplify]: Simplify phi1 into phi1 22.996 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 22.996 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 22.996 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 22.996 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 22.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 22.997 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 22.997 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 22.997 * [taylor]: Taking taylor expansion of R in lambda2 22.997 * [backup-simplify]: Simplify R into R 22.997 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 22.997 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.997 * [backup-simplify]: Simplify 0 into 0 22.997 * [backup-simplify]: Simplify 1 into 1 22.997 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 22.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 22.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 22.998 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 22.998 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 22.998 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) 22.999 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 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)))) 23.000 * [backup-simplify]: Simplify (* 1 1) into 1 23.000 * [backup-simplify]: Simplify (* R 1) into R 23.001 * [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)))) R) into (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) 23.001 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))) in lambda2 23.001 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)) in lambda2 23.001 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) in lambda2 23.001 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.001 * [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 23.001 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.001 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.001 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.001 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.001 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.001 * [backup-simplify]: Simplify -0.5 into -0.5 23.001 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.002 * [backup-simplify]: Simplify phi2 into phi2 23.002 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.002 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.002 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.002 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.002 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.002 * [backup-simplify]: Simplify (- 0) into 0 23.003 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.003 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.003 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.003 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.003 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.003 * [backup-simplify]: Simplify -0.5 into -0.5 23.003 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.003 * [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 23.004 * [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 (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.004 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.004 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.004 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.004 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.004 * [backup-simplify]: Simplify -0.5 into -0.5 23.004 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (sin (/ -0.5 phi2)) into (sin (/ -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)) 1) into (sin (/ -0.5 phi2)) 23.005 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.005 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.005 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.005 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.005 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.005 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.005 * [backup-simplify]: Simplify -0.5 into -0.5 23.005 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 (sin (/ -0.5 phi1)) into (sin (/ -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)) 1) into (sin (/ -0.5 phi1)) 23.005 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.005 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.006 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.006 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.006 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.006 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.006 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.006 * [backup-simplify]: Simplify -0.5 into -0.5 23.006 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.006 * [backup-simplify]: Simplify phi2 into phi2 23.006 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.006 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.006 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.006 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.006 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.006 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.006 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.006 * [backup-simplify]: Simplify -0.5 into -0.5 23.006 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.006 * [backup-simplify]: Simplify phi2 into phi2 23.006 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.006 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.006 * [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))) in lambda2 23.007 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.007 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.007 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.007 * [backup-simplify]: Simplify -0.5 into -0.5 23.007 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.007 * [backup-simplify]: Simplify phi1 into phi1 23.007 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.007 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.007 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.007 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.007 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.007 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.007 * [backup-simplify]: Simplify -0.5 into -0.5 23.007 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.007 * [backup-simplify]: Simplify phi1 into phi1 23.007 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.007 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.007 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.007 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.007 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.007 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.008 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.008 * [backup-simplify]: Simplify -0.5 into -0.5 23.008 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.008 * [backup-simplify]: Simplify phi2 into phi2 23.008 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.008 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.008 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.008 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.008 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.008 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.008 * [backup-simplify]: Simplify -0.5 into -0.5 23.008 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.008 * [backup-simplify]: Simplify phi2 into phi2 23.008 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.008 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.008 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 23.008 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.008 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.008 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.008 * [backup-simplify]: Simplify -0.5 into -0.5 23.008 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.009 * [backup-simplify]: Simplify phi1 into phi1 23.009 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.009 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.009 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.009 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.009 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.009 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.009 * [backup-simplify]: Simplify -0.5 into -0.5 23.009 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.009 * [backup-simplify]: Simplify phi1 into phi1 23.009 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.009 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.009 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.009 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.010 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.010 * [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)) 23.010 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.010 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.011 * [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)) 23.012 * [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))) 23.012 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.012 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.013 * [backup-simplify]: Simplify (- 0) into 0 23.013 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.013 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.013 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.013 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.014 * [backup-simplify]: Simplify (- 0) into 0 23.014 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.014 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.014 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.014 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.014 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.015 * [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)))) 23.015 * [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))))) 23.015 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.015 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.015 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.015 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.016 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.016 * [backup-simplify]: Simplify (- 0) into 0 23.016 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.016 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.016 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.017 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.017 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.017 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.017 * [backup-simplify]: Simplify (- 0) into 0 23.017 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.018 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.018 * [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)))) 23.018 * [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))))) 23.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.020 * [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))))))) 23.022 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (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))))))) 23.026 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 23.030 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 23.035 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.039 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (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))))))))) (/ 1 (- (+ (* (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))))))))) 23.040 * [backup-simplify]: Simplify (+ 0) into 0 23.041 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.041 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.043 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.043 * [backup-simplify]: Simplify (- 0) into 0 23.043 * [backup-simplify]: Simplify (+ 0 0) into 0 23.044 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.044 * [backup-simplify]: Simplify (+ 0) into 0 23.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.045 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.046 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.046 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.047 * [backup-simplify]: Simplify (- 0) into 0 23.047 * [backup-simplify]: Simplify (+ 0 0) into 0 23.047 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.048 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.048 * [backup-simplify]: Simplify (+ 0) into 0 23.049 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.049 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.050 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.051 * [backup-simplify]: Simplify (+ 0 0) into 0 23.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.051 * [backup-simplify]: Simplify (+ 0) into 0 23.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.052 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.053 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.054 * [backup-simplify]: Simplify (+ 0 0) into 0 23.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.054 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.055 * [backup-simplify]: Simplify (+ 0 0) into 0 23.055 * [backup-simplify]: Simplify (+ 0) into 0 23.056 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.057 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.058 * [backup-simplify]: Simplify (+ 0 0) into 0 23.058 * [backup-simplify]: Simplify (+ 0) into 0 23.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.059 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.060 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.060 * [backup-simplify]: Simplify (- 0) into 0 23.061 * [backup-simplify]: Simplify (+ 0 0) into 0 23.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.061 * [backup-simplify]: Simplify (+ 0) into 0 23.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.062 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.064 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.064 * [backup-simplify]: Simplify (+ 0 0) into 0 23.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.065 * [backup-simplify]: Simplify (+ 0) into 0 23.065 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.065 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.067 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.067 * [backup-simplify]: Simplify (- 0) into 0 23.068 * [backup-simplify]: Simplify (+ 0 0) into 0 23.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.068 * [backup-simplify]: Simplify (+ 0) into 0 23.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.069 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.070 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.071 * [backup-simplify]: Simplify (- 0) into 0 23.071 * [backup-simplify]: Simplify (+ 0 0) into 0 23.072 * [backup-simplify]: Simplify (+ 0) into 0 23.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.073 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.074 * [backup-simplify]: Simplify (+ 0 0) into 0 23.074 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.074 * [backup-simplify]: Simplify (+ 0) into 0 23.075 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.075 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.077 * [backup-simplify]: Simplify (- 0) into 0 23.077 * [backup-simplify]: Simplify (+ 0 0) into 0 23.078 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.078 * [backup-simplify]: Simplify (+ 0) into 0 23.078 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.079 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.080 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.080 * [backup-simplify]: Simplify (+ 0 0) into 0 23.081 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.081 * [backup-simplify]: Simplify (+ 0 0) into 0 23.082 * [backup-simplify]: Simplify (- 0) into 0 23.082 * [backup-simplify]: Simplify (+ 0 0) into 0 23.086 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 23.090 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 23.099 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 23.104 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 23.105 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) in lambda2 23.105 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in lambda2 23.105 * [taylor]: Taking taylor expansion of 1/2 in lambda2 23.105 * [backup-simplify]: Simplify 1/2 into 1/2 23.105 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in lambda2 23.105 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) in lambda2 23.105 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.105 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.105 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.105 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.105 * [backup-simplify]: Simplify -0.5 into -0.5 23.105 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.105 * [backup-simplify]: Simplify phi2 into phi2 23.105 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.105 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.105 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.105 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.105 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.106 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.106 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.106 * [backup-simplify]: Simplify -0.5 into -0.5 23.106 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.106 * [backup-simplify]: Simplify phi2 into phi2 23.106 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.106 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.106 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.106 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.106 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.106 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.106 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.106 * [backup-simplify]: Simplify -0.5 into -0.5 23.106 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.106 * [backup-simplify]: Simplify phi1 into phi1 23.106 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.106 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.106 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.106 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.106 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.106 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.106 * [backup-simplify]: Simplify -0.5 into -0.5 23.106 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.107 * [backup-simplify]: Simplify phi1 into phi1 23.107 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.107 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.107 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.107 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 23.107 * [taylor]: Taking taylor expansion of R in lambda2 23.107 * [backup-simplify]: Simplify R into R 23.107 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.107 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.107 * [backup-simplify]: Simplify 0 into 0 23.107 * [backup-simplify]: Simplify 1 into 1 23.107 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.107 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.108 * [backup-simplify]: Simplify (- 0) into 0 23.108 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.108 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.108 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.108 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.108 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.108 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.109 * [backup-simplify]: Simplify (- 0) into 0 23.109 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.109 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.109 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.109 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.109 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.110 * [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)))) 23.110 * [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))))) 23.110 * [backup-simplify]: Simplify (* 1 1) into 1 23.110 * [backup-simplify]: Simplify (* R 1) into R 23.111 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) R) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 23.111 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in lambda2 23.111 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in lambda2 23.111 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.111 * [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 23.111 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.111 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.111 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.111 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.111 * [backup-simplify]: Simplify -0.5 into -0.5 23.111 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.111 * [backup-simplify]: Simplify phi2 into phi2 23.111 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.111 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.112 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.112 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.112 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.112 * [backup-simplify]: Simplify (- 0) into 0 23.112 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.112 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.112 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.112 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.112 * [backup-simplify]: Simplify -0.5 into -0.5 23.112 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.113 * [backup-simplify]: Simplify phi1 into phi1 23.113 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.113 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.113 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.113 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.113 * [backup-simplify]: Simplify (- 0) into 0 23.114 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.114 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.114 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.114 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.114 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.114 * [backup-simplify]: Simplify -0.5 into -0.5 23.114 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.114 * [backup-simplify]: Simplify phi2 into phi2 23.114 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.114 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.114 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.114 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.114 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.114 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.114 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.114 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.114 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.114 * [backup-simplify]: Simplify -0.5 into -0.5 23.115 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.115 * [backup-simplify]: Simplify phi1 into phi1 23.115 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.115 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.115 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.115 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.115 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.115 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.115 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.115 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.115 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.115 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.115 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.115 * [backup-simplify]: Simplify -0.5 into -0.5 23.115 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.115 * [backup-simplify]: Simplify phi2 into phi2 23.115 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.116 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.116 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.116 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.116 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.116 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.116 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.116 * [backup-simplify]: Simplify -0.5 into -0.5 23.116 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.116 * [backup-simplify]: Simplify phi2 into phi2 23.116 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.116 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.116 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.116 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.116 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.116 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.116 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.116 * [backup-simplify]: Simplify -0.5 into -0.5 23.116 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.116 * [backup-simplify]: Simplify phi1 into phi1 23.116 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.116 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.116 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.117 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.117 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.117 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.117 * [backup-simplify]: Simplify -0.5 into -0.5 23.117 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.117 * [backup-simplify]: Simplify phi1 into phi1 23.117 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.117 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.117 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.117 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.117 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.117 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.117 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.117 * [backup-simplify]: Simplify -0.5 into -0.5 23.117 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.117 * [backup-simplify]: Simplify phi2 into phi2 23.117 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.117 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.117 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.117 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.117 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.117 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.118 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.118 * [backup-simplify]: Simplify -0.5 into -0.5 23.118 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.118 * [backup-simplify]: Simplify phi2 into phi2 23.118 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.118 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.118 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.118 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 23.118 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.118 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.118 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.118 * [backup-simplify]: Simplify -0.5 into -0.5 23.118 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.118 * [backup-simplify]: Simplify phi1 into phi1 23.118 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.118 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.118 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.118 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.118 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.118 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.118 * [backup-simplify]: Simplify -0.5 into -0.5 23.118 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.119 * [backup-simplify]: Simplify phi1 into phi1 23.119 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.119 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.119 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.120 * [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)) 23.120 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.120 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.120 * [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)) 23.121 * [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))) 23.121 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.121 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.122 * [backup-simplify]: Simplify (- 0) into 0 23.122 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.122 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.123 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.123 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.123 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.123 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.123 * [backup-simplify]: Simplify (- 0) into 0 23.123 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.124 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.124 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.124 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.124 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.124 * [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)))) 23.125 * [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))))) 23.125 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.125 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.125 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.125 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.125 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.126 * [backup-simplify]: Simplify (- 0) into 0 23.126 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.126 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.126 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.126 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.127 * [backup-simplify]: Simplify (- 0) into 0 23.127 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.127 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.127 * [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)))) 23.128 * [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))))) 23.128 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.129 * [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))))))) 23.131 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (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))))))) 23.133 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 23.135 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.136 * [backup-simplify]: Simplify (+ 0) into 0 23.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.137 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.138 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.145 * [backup-simplify]: Simplify (- 0) into 0 23.146 * [backup-simplify]: Simplify (+ 0 0) into 0 23.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.147 * [backup-simplify]: Simplify (+ 0) into 0 23.147 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.148 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.149 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.150 * [backup-simplify]: Simplify (- 0) into 0 23.150 * [backup-simplify]: Simplify (+ 0 0) into 0 23.150 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.151 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.151 * [backup-simplify]: Simplify (+ 0) into 0 23.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.152 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.154 * [backup-simplify]: Simplify (+ 0 0) into 0 23.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.154 * [backup-simplify]: Simplify (+ 0) into 0 23.155 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.156 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.157 * [backup-simplify]: Simplify (+ 0 0) into 0 23.157 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.157 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.158 * [backup-simplify]: Simplify (+ 0 0) into 0 23.158 * [backup-simplify]: Simplify (+ 0) into 0 23.159 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.159 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.160 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.161 * [backup-simplify]: Simplify (+ 0 0) into 0 23.161 * [backup-simplify]: Simplify (+ 0) into 0 23.162 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.162 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.163 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.163 * [backup-simplify]: Simplify (- 0) into 0 23.164 * [backup-simplify]: Simplify (+ 0 0) into 0 23.164 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.164 * [backup-simplify]: Simplify (+ 0) into 0 23.165 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.165 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.166 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.166 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.167 * [backup-simplify]: Simplify (+ 0 0) into 0 23.167 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.167 * [backup-simplify]: Simplify (+ 0) into 0 23.168 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.168 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.169 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.169 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.170 * [backup-simplify]: Simplify (- 0) into 0 23.170 * [backup-simplify]: Simplify (+ 0 0) into 0 23.170 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.171 * [backup-simplify]: Simplify (+ 0) into 0 23.171 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.172 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.172 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.173 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.173 * [backup-simplify]: Simplify (- 0) into 0 23.174 * [backup-simplify]: Simplify (+ 0 0) into 0 23.174 * [backup-simplify]: Simplify (+ 0) into 0 23.174 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.175 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.176 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.176 * [backup-simplify]: Simplify (+ 0 0) into 0 23.176 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.177 * [backup-simplify]: Simplify (+ 0) into 0 23.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.177 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.179 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.179 * [backup-simplify]: Simplify (- 0) into 0 23.179 * [backup-simplify]: Simplify (+ 0 0) into 0 23.180 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.180 * [backup-simplify]: Simplify (+ 0) into 0 23.181 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.181 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.183 * [backup-simplify]: Simplify (+ 0 0) into 0 23.183 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.184 * [backup-simplify]: Simplify (+ 0 0) into 0 23.184 * [backup-simplify]: Simplify (- 0) into 0 23.184 * [backup-simplify]: Simplify (+ 0 0) into 0 23.188 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.191 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.191 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in lambda2 23.191 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) in lambda2 23.191 * [taylor]: Taking taylor expansion of 1/2 in lambda2 23.191 * [backup-simplify]: Simplify 1/2 into 1/2 23.191 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))) in lambda2 23.191 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (pow lambda2 2))) in lambda2 23.191 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) in lambda2 23.191 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2 23.191 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.191 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.191 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.191 * [backup-simplify]: Simplify -0.5 into -0.5 23.191 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.191 * [backup-simplify]: Simplify phi2 into phi2 23.191 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.191 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.191 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.192 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.192 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.192 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.192 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2 23.192 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.192 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.192 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.192 * [backup-simplify]: Simplify -0.5 into -0.5 23.192 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.192 * [backup-simplify]: Simplify phi1 into phi1 23.192 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.192 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.192 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.192 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.192 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.193 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.193 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 23.193 * [taylor]: Taking taylor expansion of R in lambda2 23.193 * [backup-simplify]: Simplify R into R 23.193 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.193 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.193 * [backup-simplify]: Simplify 0 into 0 23.193 * [backup-simplify]: Simplify 1 into 1 23.193 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.193 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4) 23.193 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.194 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4) 23.194 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) into (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) 23.195 * [backup-simplify]: Simplify (* 1 1) into 1 23.195 * [backup-simplify]: Simplify (* R 1) into R 23.195 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) 23.195 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))) in lambda2 23.195 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)) in lambda2 23.195 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) in lambda2 23.195 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.195 * [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 23.195 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.195 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.195 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.196 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.196 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.196 * [backup-simplify]: Simplify -0.5 into -0.5 23.196 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.196 * [backup-simplify]: Simplify phi2 into phi2 23.196 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.196 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.196 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.196 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.196 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.196 * [backup-simplify]: Simplify (- 0) into 0 23.197 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.197 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.197 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.197 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.197 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.197 * [backup-simplify]: Simplify -0.5 into -0.5 23.197 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.197 * [backup-simplify]: Simplify phi1 into phi1 23.197 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.197 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.197 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.197 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.197 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.198 * [backup-simplify]: Simplify (- 0) into 0 23.198 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.198 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.198 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.198 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.198 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.198 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.198 * [backup-simplify]: Simplify -0.5 into -0.5 23.198 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.198 * [backup-simplify]: Simplify phi2 into phi2 23.198 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.198 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.198 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.198 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.198 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.199 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.199 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.199 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.199 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.199 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.199 * [backup-simplify]: Simplify -0.5 into -0.5 23.199 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.199 * [backup-simplify]: Simplify phi1 into phi1 23.199 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.199 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.199 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.199 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.199 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.199 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.199 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.199 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.199 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.199 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.199 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.200 * [backup-simplify]: Simplify -0.5 into -0.5 23.200 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.200 * [backup-simplify]: Simplify phi2 into phi2 23.200 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.200 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.200 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.200 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.200 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.200 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.200 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.200 * [backup-simplify]: Simplify -0.5 into -0.5 23.200 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.200 * [backup-simplify]: Simplify phi2 into phi2 23.200 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.200 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.200 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.200 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.200 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.200 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.200 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.200 * [backup-simplify]: Simplify -0.5 into -0.5 23.200 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.200 * [backup-simplify]: Simplify phi1 into phi1 23.201 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.201 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.201 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.201 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.201 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.201 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.201 * [backup-simplify]: Simplify -0.5 into -0.5 23.201 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.201 * [backup-simplify]: Simplify phi1 into phi1 23.201 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.201 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.201 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.201 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.201 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.201 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.201 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.201 * [backup-simplify]: Simplify -0.5 into -0.5 23.201 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.201 * [backup-simplify]: Simplify phi2 into phi2 23.201 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.201 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.202 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.202 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.202 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.202 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.202 * [backup-simplify]: Simplify -0.5 into -0.5 23.202 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.202 * [backup-simplify]: Simplify phi2 into phi2 23.202 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.202 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.202 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.202 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 23.202 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.202 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.202 * [backup-simplify]: Simplify -0.5 into -0.5 23.202 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.202 * [backup-simplify]: Simplify phi1 into phi1 23.202 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.202 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.202 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.202 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.202 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.203 * [backup-simplify]: Simplify -0.5 into -0.5 23.203 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.203 * [backup-simplify]: Simplify phi1 into phi1 23.203 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.203 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.203 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.204 * [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)) 23.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.204 * [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)) 23.205 * [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))) 23.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.206 * [backup-simplify]: Simplify (- 0) into 0 23.206 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.206 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.207 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.207 * [backup-simplify]: Simplify (- 0) into 0 23.207 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.208 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.208 * [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)))) 23.208 * [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))))) 23.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.209 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.209 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.209 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.209 * [backup-simplify]: Simplify (- 0) into 0 23.210 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.210 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.210 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.210 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.210 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.210 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.211 * [backup-simplify]: Simplify (- 0) into 0 23.211 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.211 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.211 * [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)))) 23.211 * [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))))) 23.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.213 * [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))))))) 23.215 * [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))))))) 23.219 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 23.223 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 23.227 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.231 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (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))))))))) (/ 1 (- (+ (* (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))))))))) 23.232 * [backup-simplify]: Simplify (+ 0) into 0 23.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.233 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.234 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.235 * [backup-simplify]: Simplify (- 0) into 0 23.235 * [backup-simplify]: Simplify (+ 0 0) into 0 23.235 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.236 * [backup-simplify]: Simplify (+ 0) into 0 23.236 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.237 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.237 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.238 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.238 * [backup-simplify]: Simplify (- 0) into 0 23.239 * [backup-simplify]: Simplify (+ 0 0) into 0 23.239 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.239 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.240 * [backup-simplify]: Simplify (+ 0) into 0 23.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.240 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.242 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.242 * [backup-simplify]: Simplify (+ 0 0) into 0 23.242 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.243 * [backup-simplify]: Simplify (+ 0) into 0 23.244 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.244 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.245 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.245 * [backup-simplify]: Simplify (+ 0 0) into 0 23.246 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.246 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.246 * [backup-simplify]: Simplify (+ 0 0) into 0 23.247 * [backup-simplify]: Simplify (+ 0) into 0 23.247 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.248 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.249 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.249 * [backup-simplify]: Simplify (+ 0 0) into 0 23.249 * [backup-simplify]: Simplify (+ 0) into 0 23.249 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.250 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.250 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.250 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.251 * [backup-simplify]: Simplify (- 0) into 0 23.251 * [backup-simplify]: Simplify (+ 0 0) into 0 23.251 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.251 * [backup-simplify]: Simplify (+ 0) into 0 23.252 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.252 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.253 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.253 * [backup-simplify]: Simplify (+ 0 0) into 0 23.253 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.253 * [backup-simplify]: Simplify (+ 0) into 0 23.254 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.254 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.255 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.255 * [backup-simplify]: Simplify (- 0) into 0 23.255 * [backup-simplify]: Simplify (+ 0 0) into 0 23.255 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.256 * [backup-simplify]: Simplify (+ 0) into 0 23.256 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.256 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.257 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.257 * [backup-simplify]: Simplify (- 0) into 0 23.258 * [backup-simplify]: Simplify (+ 0 0) into 0 23.258 * [backup-simplify]: Simplify (+ 0) into 0 23.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.258 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.259 * [backup-simplify]: Simplify (+ 0 0) into 0 23.259 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.260 * [backup-simplify]: Simplify (+ 0) into 0 23.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.260 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.261 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.261 * [backup-simplify]: Simplify (- 0) into 0 23.261 * [backup-simplify]: Simplify (+ 0 0) into 0 23.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.262 * [backup-simplify]: Simplify (+ 0) into 0 23.262 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.262 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.263 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.263 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.263 * [backup-simplify]: Simplify (+ 0 0) into 0 23.264 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.264 * [backup-simplify]: Simplify (+ 0 0) into 0 23.264 * [backup-simplify]: Simplify (- 0) into 0 23.264 * [backup-simplify]: Simplify (+ 0 0) into 0 23.266 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 23.269 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 23.278 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 23.283 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 23.284 * [taylor]: Taking taylor expansion of (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in lambda2 23.284 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 R))) in lambda2 23.284 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 R)) in lambda2 23.284 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.284 * [backup-simplify]: Simplify phi2 into phi2 23.284 * [taylor]: Taking taylor expansion of (* phi1 R) in lambda2 23.284 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.284 * [backup-simplify]: Simplify phi1 into phi1 23.284 * [taylor]: Taking taylor expansion of R in lambda2 23.284 * [backup-simplify]: Simplify R into R 23.284 * [backup-simplify]: Simplify (* phi1 R) into (* R phi1) 23.284 * [backup-simplify]: Simplify (* phi2 (* R phi1)) into (* phi2 (* R phi1)) 23.284 * [backup-simplify]: Simplify (/ 1 (* phi2 (* R phi1))) into (/ 1 (* phi2 (* phi1 R))) 23.284 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in lambda2 23.284 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in lambda2 23.284 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.284 * [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 23.285 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.285 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.285 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.285 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.285 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.285 * [backup-simplify]: Simplify -0.5 into -0.5 23.285 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.285 * [backup-simplify]: Simplify phi2 into phi2 23.285 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.285 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.285 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.285 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.285 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.286 * [backup-simplify]: Simplify (- 0) into 0 23.286 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.286 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.286 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.286 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.286 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.286 * [backup-simplify]: Simplify -0.5 into -0.5 23.286 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.286 * [backup-simplify]: Simplify phi1 into phi1 23.286 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.286 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.287 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 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 23.287 * [backup-simplify]: Simplify (- 0) into 0 23.287 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.287 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.287 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.287 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.287 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.287 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.288 * [backup-simplify]: Simplify -0.5 into -0.5 23.288 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.288 * [backup-simplify]: Simplify phi2 into phi2 23.288 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.288 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.288 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.288 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.288 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.288 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.288 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.288 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.288 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.288 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.288 * [backup-simplify]: Simplify -0.5 into -0.5 23.288 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.288 * [backup-simplify]: Simplify phi1 into phi1 23.288 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.289 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.289 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.289 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.289 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.289 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.289 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.289 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.289 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.289 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.289 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.289 * [backup-simplify]: Simplify -0.5 into -0.5 23.289 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.289 * [backup-simplify]: Simplify phi2 into phi2 23.289 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.289 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.290 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.290 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.290 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.290 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.290 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.290 * [backup-simplify]: Simplify -0.5 into -0.5 23.290 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.290 * [backup-simplify]: Simplify phi2 into phi2 23.290 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.290 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.290 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.290 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.290 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.290 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.290 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.290 * [backup-simplify]: Simplify -0.5 into -0.5 23.290 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.290 * [backup-simplify]: Simplify phi1 into phi1 23.290 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.290 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.290 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.291 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.291 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.291 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.291 * [backup-simplify]: Simplify -0.5 into -0.5 23.291 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.291 * [backup-simplify]: Simplify phi1 into phi1 23.291 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.291 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.291 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.291 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.291 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.291 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.291 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.291 * [backup-simplify]: Simplify -0.5 into -0.5 23.291 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.291 * [backup-simplify]: Simplify phi2 into phi2 23.291 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.291 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.291 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.291 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.291 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.292 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.292 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.292 * [backup-simplify]: Simplify -0.5 into -0.5 23.292 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.292 * [backup-simplify]: Simplify phi2 into phi2 23.292 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.292 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.292 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.292 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 23.292 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.292 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.292 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.292 * [backup-simplify]: Simplify -0.5 into -0.5 23.292 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.292 * [backup-simplify]: Simplify phi1 into phi1 23.292 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.292 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.293 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.293 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.293 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.293 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.293 * [backup-simplify]: Simplify -0.5 into -0.5 23.293 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.293 * [backup-simplify]: Simplify phi1 into phi1 23.293 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.293 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.293 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.293 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.294 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.294 * [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)) 23.294 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.294 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.295 * [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)) 23.296 * [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))) 23.296 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.296 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.297 * [backup-simplify]: Simplify (- 0) into 0 23.297 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.297 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.297 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.297 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.297 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.297 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.298 * [backup-simplify]: Simplify (- 0) into 0 23.298 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.298 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.298 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.298 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.298 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.299 * [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)))) 23.299 * [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))))) 23.299 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.299 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.299 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.299 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.300 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.300 * [backup-simplify]: Simplify (- 0) into 0 23.300 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.300 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.300 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.300 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.301 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.301 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.301 * [backup-simplify]: Simplify (- 0) into 0 23.301 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.301 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.302 * [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)))) 23.302 * [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))))) 23.303 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.304 * [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))))))) 23.306 * [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))))))) 23.309 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 23.311 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.318 * [backup-simplify]: Simplify (+ 0) into 0 23.319 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.319 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.320 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.321 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.321 * [backup-simplify]: Simplify (- 0) into 0 23.322 * [backup-simplify]: Simplify (+ 0 0) into 0 23.322 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.322 * [backup-simplify]: Simplify (+ 0) into 0 23.323 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.323 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.324 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.325 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.325 * [backup-simplify]: Simplify (- 0) into 0 23.325 * [backup-simplify]: Simplify (+ 0 0) into 0 23.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.326 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.326 * [backup-simplify]: Simplify (+ 0) into 0 23.327 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.327 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.328 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.329 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.329 * [backup-simplify]: Simplify (+ 0 0) into 0 23.329 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.330 * [backup-simplify]: Simplify (+ 0) into 0 23.330 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.330 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.332 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.332 * [backup-simplify]: Simplify (+ 0 0) into 0 23.332 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.333 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.333 * [backup-simplify]: Simplify (+ 0 0) into 0 23.334 * [backup-simplify]: Simplify (+ 0) into 0 23.334 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.334 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.336 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.336 * [backup-simplify]: Simplify (+ 0 0) into 0 23.337 * [backup-simplify]: Simplify (+ 0) into 0 23.337 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.337 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.339 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.339 * [backup-simplify]: Simplify (- 0) into 0 23.339 * [backup-simplify]: Simplify (+ 0 0) into 0 23.340 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.340 * [backup-simplify]: Simplify (+ 0) into 0 23.341 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.341 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.342 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.343 * [backup-simplify]: Simplify (+ 0 0) into 0 23.343 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.343 * [backup-simplify]: Simplify (+ 0) into 0 23.344 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.344 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.345 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.346 * [backup-simplify]: Simplify (- 0) into 0 23.346 * [backup-simplify]: Simplify (+ 0 0) into 0 23.347 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.347 * [backup-simplify]: Simplify (+ 0) into 0 23.348 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.348 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.349 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.349 * [backup-simplify]: Simplify (- 0) into 0 23.350 * [backup-simplify]: Simplify (+ 0 0) into 0 23.350 * [backup-simplify]: Simplify (+ 0) into 0 23.351 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.352 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.353 * [backup-simplify]: Simplify (+ 0 0) into 0 23.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.354 * [backup-simplify]: Simplify (+ 0) into 0 23.354 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.354 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.355 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.355 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.356 * [backup-simplify]: Simplify (- 0) into 0 23.356 * [backup-simplify]: Simplify (+ 0 0) into 0 23.356 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.357 * [backup-simplify]: Simplify (+ 0) into 0 23.357 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.357 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.359 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.359 * [backup-simplify]: Simplify (+ 0 0) into 0 23.359 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.360 * [backup-simplify]: Simplify (+ 0 0) into 0 23.360 * [backup-simplify]: Simplify (- 0) into 0 23.360 * [backup-simplify]: Simplify (+ 0 0) into 0 23.364 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.365 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.365 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ 1 (* (pow phi1 2) R)))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))))))))))) in lambda2 23.365 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) in lambda2 23.365 * [taylor]: Taking taylor expansion of 3/2 in lambda2 23.365 * [backup-simplify]: Simplify 3/2 into 3/2 23.365 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))) in lambda2 23.366 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (pow lambda2 2))) in lambda2 23.366 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) in lambda2 23.366 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.366 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.366 * [backup-simplify]: Simplify -0.5 into -0.5 23.366 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.366 * [backup-simplify]: Simplify phi1 into phi1 23.366 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.366 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3))) in lambda2 23.366 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.366 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.366 * [backup-simplify]: Simplify -0.5 into -0.5 23.366 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.366 * [backup-simplify]: Simplify phi2 into phi2 23.366 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.366 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)) in lambda2 23.366 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2 23.366 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.366 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.366 * [backup-simplify]: Simplify -0.5 into -0.5 23.366 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.366 * [backup-simplify]: Simplify phi1 into phi1 23.366 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.366 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.367 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.367 * [backup-simplify]: Simplify (- 0) into 0 23.367 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.367 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2 23.367 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.367 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.367 * [backup-simplify]: Simplify -0.5 into -0.5 23.367 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.367 * [backup-simplify]: Simplify phi2 into phi2 23.367 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.367 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.367 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.368 * [backup-simplify]: Simplify (- 0) into 0 23.368 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.368 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 23.368 * [taylor]: Taking taylor expansion of R in lambda2 23.368 * [backup-simplify]: Simplify R into R 23.368 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.368 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.368 * [backup-simplify]: Simplify 0 into 0 23.368 * [backup-simplify]: Simplify 1 into 1 23.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.368 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.368 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 23.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 23.369 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)) into (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)) 23.369 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3))) 23.370 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) 23.370 * [backup-simplify]: Simplify (* 1 1) into 1 23.370 * [backup-simplify]: Simplify (* R 1) into R 23.370 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) R) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) R) 23.370 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))) in lambda2 23.370 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)) in lambda2 23.370 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) in lambda2 23.370 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.370 * [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 23.370 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.370 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.370 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.370 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.370 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.371 * [backup-simplify]: Simplify -0.5 into -0.5 23.371 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.371 * [backup-simplify]: Simplify phi2 into phi2 23.371 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.371 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.371 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.371 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.371 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.371 * [backup-simplify]: Simplify (- 0) into 0 23.371 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.371 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.371 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.371 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.371 * [backup-simplify]: Simplify -0.5 into -0.5 23.371 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.371 * [backup-simplify]: Simplify phi1 into phi1 23.371 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.371 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.371 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.372 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.372 * [backup-simplify]: Simplify (- 0) into 0 23.372 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.372 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.372 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.372 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.372 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.372 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.372 * [backup-simplify]: Simplify -0.5 into -0.5 23.372 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.372 * [backup-simplify]: Simplify phi2 into phi2 23.372 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.372 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.372 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.373 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.373 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.373 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.373 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.373 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.373 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.373 * [backup-simplify]: Simplify -0.5 into -0.5 23.373 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.373 * [backup-simplify]: Simplify phi1 into phi1 23.373 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.373 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.373 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.373 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.374 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.374 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.374 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.374 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.374 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.374 * [backup-simplify]: Simplify -0.5 into -0.5 23.374 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.374 * [backup-simplify]: Simplify phi2 into phi2 23.374 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.374 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.374 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.374 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.374 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.374 * [backup-simplify]: Simplify -0.5 into -0.5 23.374 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.374 * [backup-simplify]: Simplify phi2 into phi2 23.374 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.375 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.375 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.375 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.375 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.375 * [backup-simplify]: Simplify -0.5 into -0.5 23.375 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.375 * [backup-simplify]: Simplify phi1 into phi1 23.375 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.375 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.375 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.375 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.375 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.375 * [backup-simplify]: Simplify -0.5 into -0.5 23.375 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.375 * [backup-simplify]: Simplify phi1 into phi1 23.375 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.375 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.375 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.375 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.375 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.375 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.376 * [backup-simplify]: Simplify -0.5 into -0.5 23.376 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.376 * [backup-simplify]: Simplify phi2 into phi2 23.376 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.376 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.376 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.376 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.376 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.376 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.376 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.376 * [backup-simplify]: Simplify -0.5 into -0.5 23.376 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.376 * [backup-simplify]: Simplify phi2 into phi2 23.376 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.376 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.376 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.376 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 23.376 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.376 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.376 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.376 * [backup-simplify]: Simplify -0.5 into -0.5 23.376 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.376 * [backup-simplify]: Simplify phi1 into phi1 23.377 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.377 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.377 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.377 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.377 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.377 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.377 * [backup-simplify]: Simplify -0.5 into -0.5 23.377 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.377 * [backup-simplify]: Simplify phi1 into phi1 23.377 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.377 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.377 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.378 * [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)) 23.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.378 * [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)) 23.379 * [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))) 23.379 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.380 * [backup-simplify]: Simplify (- 0) into 0 23.380 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.380 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.381 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.381 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.381 * [backup-simplify]: Simplify (- 0) into 0 23.381 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.381 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.382 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.382 * [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)))) 23.382 * [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))))) 23.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.383 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.383 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.383 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.383 * [backup-simplify]: Simplify (- 0) into 0 23.383 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.384 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.384 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.384 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.384 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.384 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.384 * [backup-simplify]: Simplify (- 0) into 0 23.384 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.385 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.385 * [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)))) 23.385 * [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))))) 23.386 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.387 * [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))))))) 23.389 * [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))) (- (+ (* (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))))))) 23.392 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 23.396 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 23.400 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.404 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (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))))))))) (/ 1 (- (+ (* (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))))))))) 23.405 * [backup-simplify]: Simplify (+ 0) into 0 23.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.405 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.407 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.407 * [backup-simplify]: Simplify (- 0) into 0 23.408 * [backup-simplify]: Simplify (+ 0 0) into 0 23.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.408 * [backup-simplify]: Simplify (+ 0) into 0 23.409 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.409 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.411 * [backup-simplify]: Simplify (- 0) into 0 23.411 * [backup-simplify]: Simplify (+ 0 0) into 0 23.411 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.412 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.412 * [backup-simplify]: Simplify (+ 0) into 0 23.413 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.413 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.414 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.414 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.415 * [backup-simplify]: Simplify (+ 0 0) into 0 23.415 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.415 * [backup-simplify]: Simplify (+ 0) into 0 23.416 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.416 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.418 * [backup-simplify]: Simplify (+ 0 0) into 0 23.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.418 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.419 * [backup-simplify]: Simplify (+ 0 0) into 0 23.419 * [backup-simplify]: Simplify (+ 0) into 0 23.420 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.420 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.421 * [backup-simplify]: Simplify (+ 0 0) into 0 23.422 * [backup-simplify]: Simplify (+ 0) into 0 23.422 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.422 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.424 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.424 * [backup-simplify]: Simplify (- 0) into 0 23.424 * [backup-simplify]: Simplify (+ 0 0) into 0 23.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.425 * [backup-simplify]: Simplify (+ 0) into 0 23.425 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.426 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.427 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.427 * [backup-simplify]: Simplify (+ 0 0) into 0 23.427 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.428 * [backup-simplify]: Simplify (+ 0) into 0 23.428 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.429 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.430 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.430 * [backup-simplify]: Simplify (- 0) into 0 23.430 * [backup-simplify]: Simplify (+ 0 0) into 0 23.431 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.431 * [backup-simplify]: Simplify (+ 0) into 0 23.432 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.432 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.433 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.433 * [backup-simplify]: Simplify (- 0) into 0 23.434 * [backup-simplify]: Simplify (+ 0 0) into 0 23.434 * [backup-simplify]: Simplify (+ 0) into 0 23.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.435 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.436 * [backup-simplify]: Simplify (+ 0 0) into 0 23.437 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.437 * [backup-simplify]: Simplify (+ 0) into 0 23.437 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.438 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.438 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.439 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.439 * [backup-simplify]: Simplify (- 0) into 0 23.440 * [backup-simplify]: Simplify (+ 0 0) into 0 23.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.440 * [backup-simplify]: Simplify (+ 0) into 0 23.441 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.441 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.442 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.442 * [backup-simplify]: Simplify (+ 0 0) into 0 23.443 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.443 * [backup-simplify]: Simplify (+ 0 0) into 0 23.444 * [backup-simplify]: Simplify (- 0) into 0 23.444 * [backup-simplify]: Simplify (+ 0 0) into 0 23.448 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 23.451 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 23.458 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 23.461 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 23.461 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ 1 (* (pow phi1 2) R)))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))))))))) in lambda2 23.461 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in lambda2 23.461 * [taylor]: Taking taylor expansion of 1/2 in lambda2 23.461 * [backup-simplify]: Simplify 1/2 into 1/2 23.461 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in lambda2 23.461 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) in lambda2 23.461 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.461 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.461 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.461 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.461 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.461 * [backup-simplify]: Simplify -0.5 into -0.5 23.461 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.461 * [backup-simplify]: Simplify phi2 into phi2 23.461 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.461 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.461 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.462 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.462 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.462 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.462 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.462 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.462 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.462 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.462 * [backup-simplify]: Simplify -0.5 into -0.5 23.462 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.462 * [backup-simplify]: Simplify phi1 into phi1 23.462 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.462 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.462 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.462 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.462 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.462 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.462 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 23.462 * [taylor]: Taking taylor expansion of R in lambda2 23.462 * [backup-simplify]: Simplify R into R 23.462 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.462 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.462 * [backup-simplify]: Simplify 0 into 0 23.462 * [backup-simplify]: Simplify 1 into 1 23.462 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.462 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.463 * [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)) 23.463 * [backup-simplify]: Simplify (* 1 1) into 1 23.463 * [backup-simplify]: Simplify (* R 1) into R 23.463 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 23.463 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in lambda2 23.463 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in lambda2 23.464 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.464 * [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 23.464 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.464 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.464 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.464 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.464 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.464 * [backup-simplify]: Simplify -0.5 into -0.5 23.464 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.464 * [backup-simplify]: Simplify phi2 into phi2 23.464 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.464 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.464 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.464 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.464 * [backup-simplify]: Simplify (- 0) into 0 23.464 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.464 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.464 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.464 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.464 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.464 * [backup-simplify]: Simplify -0.5 into -0.5 23.465 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.465 * [backup-simplify]: Simplify phi1 into phi1 23.465 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.465 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.465 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.465 * [backup-simplify]: Simplify (- 0) into 0 23.465 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.465 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.465 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.465 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.465 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.465 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.465 * [backup-simplify]: Simplify -0.5 into -0.5 23.465 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.465 * [backup-simplify]: Simplify phi2 into phi2 23.465 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.465 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.465 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.466 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.466 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.466 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.466 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.466 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.466 * [backup-simplify]: Simplify -0.5 into -0.5 23.466 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.466 * [backup-simplify]: Simplify phi1 into phi1 23.466 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.466 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.466 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.466 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.466 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.466 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.466 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.466 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.466 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.466 * [backup-simplify]: Simplify -0.5 into -0.5 23.466 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.466 * [backup-simplify]: Simplify phi2 into phi2 23.466 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.466 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.466 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.466 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.466 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.467 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.467 * [backup-simplify]: Simplify -0.5 into -0.5 23.467 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.467 * [backup-simplify]: Simplify phi2 into phi2 23.467 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.467 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.467 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.467 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.467 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.467 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.467 * [backup-simplify]: Simplify -0.5 into -0.5 23.467 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.467 * [backup-simplify]: Simplify phi1 into phi1 23.467 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.467 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.467 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.467 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.467 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.467 * [backup-simplify]: Simplify -0.5 into -0.5 23.467 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.467 * [backup-simplify]: Simplify phi1 into phi1 23.467 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.467 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.467 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.467 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.467 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.467 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.467 * [backup-simplify]: Simplify -0.5 into -0.5 23.467 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.467 * [backup-simplify]: Simplify phi2 into phi2 23.467 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.467 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.468 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.468 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.468 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.468 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.468 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.468 * [backup-simplify]: Simplify -0.5 into -0.5 23.468 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.468 * [backup-simplify]: Simplify phi2 into phi2 23.468 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.468 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.468 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.468 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 23.468 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.468 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.468 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.468 * [backup-simplify]: Simplify -0.5 into -0.5 23.468 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.468 * [backup-simplify]: Simplify phi1 into phi1 23.469 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.469 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.469 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.469 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.469 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.469 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.469 * [backup-simplify]: Simplify -0.5 into -0.5 23.469 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.469 * [backup-simplify]: Simplify phi1 into phi1 23.469 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.469 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.469 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.469 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.470 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.470 * [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)) 23.470 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.470 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.470 * [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)) 23.471 * [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))) 23.471 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.471 * [backup-simplify]: Simplify (- 0) into 0 23.471 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.471 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.471 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.472 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.472 * [backup-simplify]: Simplify (- 0) into 0 23.472 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.472 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.472 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.472 * [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)))) 23.473 * [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))))) 23.473 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.473 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.473 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.473 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.473 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.473 * [backup-simplify]: Simplify (- 0) into 0 23.473 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.473 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.473 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.473 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.473 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.474 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.478 * [backup-simplify]: Simplify (- 0) into 0 23.478 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.479 * [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)))) 23.479 * [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))))) 23.479 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.480 * [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))))))) 23.481 * [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))))))) 23.482 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 23.483 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.484 * [backup-simplify]: Simplify (+ 0) into 0 23.484 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.484 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.485 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.485 * [backup-simplify]: Simplify (- 0) into 0 23.485 * [backup-simplify]: Simplify (+ 0 0) into 0 23.486 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.486 * [backup-simplify]: Simplify (+ 0) into 0 23.486 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.486 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.487 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.487 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.487 * [backup-simplify]: Simplify (- 0) into 0 23.488 * [backup-simplify]: Simplify (+ 0 0) into 0 23.488 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.488 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.488 * [backup-simplify]: Simplify (+ 0) into 0 23.489 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.489 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.490 * [backup-simplify]: Simplify (+ 0 0) into 0 23.490 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.490 * [backup-simplify]: Simplify (+ 0) into 0 23.490 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.491 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.491 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.492 * [backup-simplify]: Simplify (+ 0 0) into 0 23.492 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.492 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.492 * [backup-simplify]: Simplify (+ 0 0) into 0 23.493 * [backup-simplify]: Simplify (+ 0) into 0 23.493 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.494 * [backup-simplify]: Simplify (+ 0 0) into 0 23.494 * [backup-simplify]: Simplify (+ 0) into 0 23.495 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.495 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.496 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.496 * [backup-simplify]: Simplify (- 0) into 0 23.496 * [backup-simplify]: Simplify (+ 0 0) into 0 23.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.496 * [backup-simplify]: Simplify (+ 0) into 0 23.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.497 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.498 * [backup-simplify]: Simplify (+ 0 0) into 0 23.498 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.498 * [backup-simplify]: Simplify (+ 0) into 0 23.499 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.499 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.499 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.500 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.500 * [backup-simplify]: Simplify (- 0) into 0 23.500 * [backup-simplify]: Simplify (+ 0 0) into 0 23.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.501 * [backup-simplify]: Simplify (+ 0) into 0 23.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.501 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.502 * [backup-simplify]: Simplify (- 0) into 0 23.502 * [backup-simplify]: Simplify (+ 0 0) into 0 23.503 * [backup-simplify]: Simplify (+ 0) into 0 23.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.503 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.504 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.504 * [backup-simplify]: Simplify (+ 0 0) into 0 23.504 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.504 * [backup-simplify]: Simplify (+ 0) into 0 23.505 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.505 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.506 * [backup-simplify]: Simplify (- 0) into 0 23.507 * [backup-simplify]: Simplify (+ 0 0) into 0 23.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.507 * [backup-simplify]: Simplify (+ 0) into 0 23.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.507 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.508 * [backup-simplify]: Simplify (+ 0 0) into 0 23.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.509 * [backup-simplify]: Simplify (+ 0 0) into 0 23.509 * [backup-simplify]: Simplify (- 0) into 0 23.509 * [backup-simplify]: Simplify (+ 0 0) into 0 23.512 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.514 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.514 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ 1 (* (pow phi1 2) R)))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))))))))) in lambda2 23.514 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) in lambda2 23.514 * [taylor]: Taking taylor expansion of 1/2 in lambda2 23.514 * [backup-simplify]: Simplify 1/2 into 1/2 23.514 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))) in lambda2 23.514 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) in lambda2 23.514 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) in lambda2 23.514 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.514 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.514 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.514 * [backup-simplify]: Simplify -0.5 into -0.5 23.514 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.514 * [backup-simplify]: Simplify phi2 into phi2 23.514 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.515 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.515 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.515 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3))) in lambda2 23.515 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.515 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.515 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.515 * [backup-simplify]: Simplify -0.5 into -0.5 23.515 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.515 * [backup-simplify]: Simplify phi1 into phi1 23.515 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.515 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.515 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.515 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) in lambda2 23.515 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2 23.515 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.515 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.515 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.515 * [backup-simplify]: Simplify -0.5 into -0.5 23.515 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.515 * [backup-simplify]: Simplify phi2 into phi2 23.515 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.515 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.516 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.516 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.516 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.516 * [backup-simplify]: Simplify (- 0) into 0 23.517 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.517 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2 23.517 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.517 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.517 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.517 * [backup-simplify]: Simplify -0.5 into -0.5 23.517 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.517 * [backup-simplify]: Simplify phi1 into phi1 23.517 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.517 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.517 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.517 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.517 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.518 * [backup-simplify]: Simplify (- 0) into 0 23.518 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.518 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 23.518 * [taylor]: Taking taylor expansion of R in lambda2 23.518 * [backup-simplify]: Simplify R into R 23.518 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.518 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.518 * [backup-simplify]: Simplify 0 into 0 23.518 * [backup-simplify]: Simplify 1 into 1 23.518 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.518 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.518 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.518 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.518 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.519 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.519 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.519 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 23.519 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.519 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 23.520 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) into (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) 23.520 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3))) into (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 3))) 23.521 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 3)))) into (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 3)))) 23.521 * [backup-simplify]: Simplify (* 1 1) into 1 23.521 * [backup-simplify]: Simplify (* R 1) into R 23.522 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 3)))) R) into (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) R) 23.522 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))) in lambda2 23.522 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)) in lambda2 23.522 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) in lambda2 23.522 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.522 * [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 23.522 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.522 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.522 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.522 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.522 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.522 * [backup-simplify]: Simplify -0.5 into -0.5 23.522 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.522 * [backup-simplify]: Simplify phi2 into phi2 23.523 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.523 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.523 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.523 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.523 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.523 * [backup-simplify]: Simplify (- 0) into 0 23.524 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.524 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.524 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.524 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.524 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.524 * [backup-simplify]: Simplify -0.5 into -0.5 23.524 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.524 * [backup-simplify]: Simplify phi1 into phi1 23.524 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.524 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.524 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.524 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.525 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.525 * [backup-simplify]: Simplify (- 0) into 0 23.525 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.525 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.525 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.525 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.525 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.525 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.525 * [backup-simplify]: Simplify -0.5 into -0.5 23.525 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.525 * [backup-simplify]: Simplify phi2 into phi2 23.525 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.526 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.526 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.526 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.526 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.526 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.526 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.526 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.526 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.526 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.526 * [backup-simplify]: Simplify -0.5 into -0.5 23.526 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.526 * [backup-simplify]: Simplify phi1 into phi1 23.526 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.526 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.526 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.526 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.527 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.527 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.527 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.527 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.527 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.527 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.527 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.527 * [backup-simplify]: Simplify -0.5 into -0.5 23.527 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.527 * [backup-simplify]: Simplify phi2 into phi2 23.527 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.527 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.527 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.527 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.527 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.527 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.527 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.527 * [backup-simplify]: Simplify -0.5 into -0.5 23.527 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.527 * [backup-simplify]: Simplify phi2 into phi2 23.527 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.528 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.528 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.528 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.528 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.528 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.528 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.528 * [backup-simplify]: Simplify -0.5 into -0.5 23.528 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.528 * [backup-simplify]: Simplify phi1 into phi1 23.528 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.528 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.528 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.528 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.528 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.528 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.528 * [backup-simplify]: Simplify -0.5 into -0.5 23.528 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.528 * [backup-simplify]: Simplify phi1 into phi1 23.528 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.528 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.528 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.528 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.529 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.529 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.529 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.529 * [backup-simplify]: Simplify -0.5 into -0.5 23.529 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.529 * [backup-simplify]: Simplify phi2 into phi2 23.529 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.529 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.529 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.529 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.529 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.529 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.529 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.529 * [backup-simplify]: Simplify -0.5 into -0.5 23.529 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.529 * [backup-simplify]: Simplify phi2 into phi2 23.529 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.529 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.529 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.529 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 23.529 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.529 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.529 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.530 * [backup-simplify]: Simplify -0.5 into -0.5 23.530 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.530 * [backup-simplify]: Simplify phi1 into phi1 23.530 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.530 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.530 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.530 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.530 * [backup-simplify]: Simplify -0.5 into -0.5 23.530 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.530 * [backup-simplify]: Simplify phi1 into phi1 23.530 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.530 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.530 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.531 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.531 * [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)) 23.531 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.531 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.532 * [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)) 23.532 * [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))) 23.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.532 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.533 * [backup-simplify]: Simplify (- 0) into 0 23.533 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.533 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.533 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.533 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.533 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.533 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.534 * [backup-simplify]: Simplify (- 0) into 0 23.534 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.534 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 23.534 * [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))))) 23.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.534 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.535 * [backup-simplify]: Simplify (- 0) into 0 23.535 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.535 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.535 * [backup-simplify]: Simplify (- 0) into 0 23.536 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.536 * [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)))) 23.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 23.536 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.537 * [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))))))) 23.538 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 23.541 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 23.545 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 23.549 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.553 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (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))))))))) (/ 1 (- (+ (* (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))))))))) 23.554 * [backup-simplify]: Simplify (+ 0) into 0 23.554 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.555 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.556 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.557 * [backup-simplify]: Simplify (- 0) into 0 23.557 * [backup-simplify]: Simplify (+ 0 0) into 0 23.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.558 * [backup-simplify]: Simplify (+ 0) into 0 23.558 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.558 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.560 * [backup-simplify]: Simplify (- 0) into 0 23.560 * [backup-simplify]: Simplify (+ 0 0) into 0 23.560 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.561 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.561 * [backup-simplify]: Simplify (+ 0) into 0 23.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.562 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.563 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.564 * [backup-simplify]: Simplify (+ 0 0) into 0 23.564 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.564 * [backup-simplify]: Simplify (+ 0) into 0 23.565 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.565 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.566 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.566 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.566 * [backup-simplify]: Simplify (+ 0 0) into 0 23.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.567 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.567 * [backup-simplify]: Simplify (+ 0 0) into 0 23.568 * [backup-simplify]: Simplify (+ 0) into 0 23.568 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.570 * [backup-simplify]: Simplify (+ 0 0) into 0 23.571 * [backup-simplify]: Simplify (+ 0) into 0 23.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.571 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.572 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.573 * [backup-simplify]: Simplify (- 0) into 0 23.573 * [backup-simplify]: Simplify (+ 0 0) into 0 23.573 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.574 * [backup-simplify]: Simplify (+ 0) into 0 23.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.575 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.576 * [backup-simplify]: Simplify (+ 0 0) into 0 23.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.577 * [backup-simplify]: Simplify (+ 0) into 0 23.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.578 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.579 * [backup-simplify]: Simplify (- 0) into 0 23.579 * [backup-simplify]: Simplify (+ 0 0) into 0 23.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.580 * [backup-simplify]: Simplify (+ 0) into 0 23.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.581 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.583 * [backup-simplify]: Simplify (- 0) into 0 23.583 * [backup-simplify]: Simplify (+ 0 0) into 0 23.583 * [backup-simplify]: Simplify (+ 0) into 0 23.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.584 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.586 * [backup-simplify]: Simplify (+ 0 0) into 0 23.586 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.587 * [backup-simplify]: Simplify (+ 0) into 0 23.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.587 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.589 * [backup-simplify]: Simplify (- 0) into 0 23.589 * [backup-simplify]: Simplify (+ 0 0) into 0 23.590 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.590 * [backup-simplify]: Simplify (+ 0) into 0 23.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.591 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.592 * [backup-simplify]: Simplify (+ 0 0) into 0 23.593 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.593 * [backup-simplify]: Simplify (+ 0 0) into 0 23.593 * [backup-simplify]: Simplify (- 0) into 0 23.594 * [backup-simplify]: Simplify (+ 0 0) into 0 23.597 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 23.601 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 23.611 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 23.614 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 23.614 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ 1 (* (pow phi1 2) R)))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))))))) in lambda2 23.614 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) in lambda2 23.614 * [taylor]: Taking taylor expansion of 1/2 in lambda2 23.614 * [backup-simplify]: Simplify 1/2 into 1/2 23.614 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))) in lambda2 23.614 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (pow lambda2 2))) in lambda2 23.614 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) in lambda2 23.614 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2 23.614 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.614 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.614 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.614 * [backup-simplify]: Simplify -0.5 into -0.5 23.614 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.614 * [backup-simplify]: Simplify phi2 into phi2 23.614 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.614 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.614 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.614 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.614 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.614 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.614 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2)))) in lambda2 23.614 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.614 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.615 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.615 * [backup-simplify]: Simplify -0.5 into -0.5 23.615 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.615 * [backup-simplify]: Simplify phi1 into phi1 23.615 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.615 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.615 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.615 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))) in lambda2 23.615 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2 23.615 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.615 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.615 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.615 * [backup-simplify]: Simplify -0.5 into -0.5 23.615 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.615 * [backup-simplify]: Simplify phi1 into phi1 23.615 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.615 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.615 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.615 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.615 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.615 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.615 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.615 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.615 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.615 * [backup-simplify]: Simplify -0.5 into -0.5 23.615 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.615 * [backup-simplify]: Simplify phi2 into phi2 23.615 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.615 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.615 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.615 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 23.615 * [taylor]: Taking taylor expansion of R in lambda2 23.615 * [backup-simplify]: Simplify R into R 23.616 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.616 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.616 * [backup-simplify]: Simplify 0 into 0 23.616 * [backup-simplify]: Simplify 1 into 1 23.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3) 23.616 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.616 * [backup-simplify]: Simplify (- 0) into 0 23.616 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.617 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.617 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3) 23.617 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.617 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.617 * [backup-simplify]: Simplify (- 0) into 0 23.617 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.617 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))) into (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))) 23.618 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))) 23.618 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) into (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) 23.624 * [backup-simplify]: Simplify (* 1 1) into 1 23.624 * [backup-simplify]: Simplify (* R 1) into R 23.625 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) R) into (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) R) 23.625 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))) in lambda2 23.625 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)) in lambda2 23.625 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) in lambda2 23.625 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.625 * [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 23.625 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.625 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.625 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.625 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.625 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.625 * [backup-simplify]: Simplify -0.5 into -0.5 23.625 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.625 * [backup-simplify]: Simplify phi2 into phi2 23.625 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.626 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.626 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.626 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.626 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.627 * [backup-simplify]: Simplify (- 0) into 0 23.627 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.627 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.627 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.627 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.627 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.627 * [backup-simplify]: Simplify -0.5 into -0.5 23.627 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.627 * [backup-simplify]: Simplify phi1 into phi1 23.627 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.627 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.627 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.627 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.628 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.628 * [backup-simplify]: Simplify (- 0) into 0 23.628 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.628 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.628 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.628 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.628 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.628 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.628 * [backup-simplify]: Simplify -0.5 into -0.5 23.628 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.628 * [backup-simplify]: Simplify phi2 into phi2 23.628 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.628 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.629 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.629 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.629 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.629 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.629 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.629 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.629 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.629 * [backup-simplify]: Simplify -0.5 into -0.5 23.629 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.629 * [backup-simplify]: Simplify phi1 into phi1 23.629 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.629 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.629 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.629 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.630 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.630 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.630 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.630 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.630 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.630 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.630 * [backup-simplify]: Simplify -0.5 into -0.5 23.630 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.630 * [backup-simplify]: Simplify phi2 into phi2 23.630 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.630 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.630 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.630 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.630 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.630 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.630 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.630 * [backup-simplify]: Simplify -0.5 into -0.5 23.630 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.630 * [backup-simplify]: Simplify phi2 into phi2 23.630 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.630 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.631 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.631 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.631 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.631 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.631 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.631 * [backup-simplify]: Simplify -0.5 into -0.5 23.631 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.631 * [backup-simplify]: Simplify phi1 into phi1 23.631 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.631 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.631 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.631 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.631 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.631 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.631 * [backup-simplify]: Simplify -0.5 into -0.5 23.631 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.631 * [backup-simplify]: Simplify phi1 into phi1 23.631 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.631 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.631 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.631 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.631 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.631 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.632 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.632 * [backup-simplify]: Simplify -0.5 into -0.5 23.632 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.632 * [backup-simplify]: Simplify phi2 into phi2 23.632 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.632 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.632 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.632 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.632 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.632 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.632 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.632 * [backup-simplify]: Simplify -0.5 into -0.5 23.632 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.632 * [backup-simplify]: Simplify phi2 into phi2 23.632 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.632 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.632 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.632 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 23.632 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.632 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.632 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.632 * [backup-simplify]: Simplify -0.5 into -0.5 23.632 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.632 * [backup-simplify]: Simplify phi1 into phi1 23.633 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.633 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.633 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.633 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.633 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.633 * [backup-simplify]: Simplify -0.5 into -0.5 23.633 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.633 * [backup-simplify]: Simplify phi1 into phi1 23.633 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.633 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.633 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.633 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.633 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.634 * [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)) 23.634 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.634 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.634 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 23.635 * [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))) 23.635 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.635 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.636 * [backup-simplify]: Simplify (- 0) into 0 23.636 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.636 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.636 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.636 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.637 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.637 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.637 * [backup-simplify]: Simplify (- 0) into 0 23.637 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.637 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.637 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.637 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.638 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.638 * [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)))) 23.638 * [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))))) 23.638 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.638 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.638 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.639 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.639 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.639 * [backup-simplify]: Simplify (- 0) into 0 23.639 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.639 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.639 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.640 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.640 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.640 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.640 * [backup-simplify]: Simplify (- 0) into 0 23.640 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.640 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.641 * [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)))) 23.641 * [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))))) 23.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.642 * [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))))))) 23.644 * [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))))))) 23.648 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 23.652 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 23.654 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.656 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (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))))))))) (/ 1 (- (+ (* (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))))))))) 23.657 * [backup-simplify]: Simplify (+ 0) into 0 23.657 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.657 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.658 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.658 * [backup-simplify]: Simplify (- 0) into 0 23.659 * [backup-simplify]: Simplify (+ 0 0) into 0 23.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.659 * [backup-simplify]: Simplify (+ 0) into 0 23.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.660 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.661 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.661 * [backup-simplify]: Simplify (- 0) into 0 23.661 * [backup-simplify]: Simplify (+ 0 0) into 0 23.662 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.662 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.662 * [backup-simplify]: Simplify (+ 0) into 0 23.663 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.663 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.664 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.665 * [backup-simplify]: Simplify (+ 0 0) into 0 23.665 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.665 * [backup-simplify]: Simplify (+ 0) into 0 23.666 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.666 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.667 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.667 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.667 * [backup-simplify]: Simplify (+ 0 0) into 0 23.668 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.668 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.668 * [backup-simplify]: Simplify (+ 0 0) into 0 23.669 * [backup-simplify]: Simplify (+ 0) into 0 23.669 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.669 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.670 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.671 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.671 * [backup-simplify]: Simplify (+ 0 0) into 0 23.672 * [backup-simplify]: Simplify (+ 0) into 0 23.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.672 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.674 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.674 * [backup-simplify]: Simplify (- 0) into 0 23.675 * [backup-simplify]: Simplify (+ 0 0) into 0 23.675 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.675 * [backup-simplify]: Simplify (+ 0) into 0 23.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.676 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.678 * [backup-simplify]: Simplify (+ 0 0) into 0 23.678 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.678 * [backup-simplify]: Simplify (+ 0) into 0 23.679 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.679 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.680 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.680 * [backup-simplify]: Simplify (- 0) into 0 23.681 * [backup-simplify]: Simplify (+ 0 0) into 0 23.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.682 * [backup-simplify]: Simplify (+ 0) into 0 23.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.682 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.683 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.683 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.684 * [backup-simplify]: Simplify (- 0) into 0 23.684 * [backup-simplify]: Simplify (+ 0 0) into 0 23.684 * [backup-simplify]: Simplify (+ 0) into 0 23.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.685 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.686 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.686 * [backup-simplify]: Simplify (+ 0 0) into 0 23.686 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.686 * [backup-simplify]: Simplify (+ 0) into 0 23.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.687 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.688 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.688 * [backup-simplify]: Simplify (- 0) into 0 23.688 * [backup-simplify]: Simplify (+ 0 0) into 0 23.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.689 * [backup-simplify]: Simplify (+ 0) into 0 23.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.690 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.691 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.691 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.691 * [backup-simplify]: Simplify (+ 0 0) into 0 23.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.692 * [backup-simplify]: Simplify (+ 0 0) into 0 23.692 * [backup-simplify]: Simplify (- 0) into 0 23.693 * [backup-simplify]: Simplify (+ 0 0) into 0 23.696 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 23.700 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 23.708 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 23.713 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 23.713 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ 1 (* (pow phi1 2) R)))) (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))))))) in lambda2 23.713 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ 1 (* (pow phi1 2) R)))) in lambda2 23.713 * [taylor]: Taking taylor expansion of 1/2 in lambda2 23.713 * [backup-simplify]: Simplify 1/2 into 1/2 23.713 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ 1 (* (pow phi1 2) R))) in lambda2 23.713 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in lambda2 23.713 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in lambda2 23.713 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.713 * [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 23.713 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.713 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.713 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.713 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.713 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.714 * [backup-simplify]: Simplify -0.5 into -0.5 23.714 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.714 * [backup-simplify]: Simplify phi2 into phi2 23.714 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.714 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.714 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.714 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.714 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.715 * [backup-simplify]: Simplify (- 0) into 0 23.715 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.715 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.715 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.715 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.715 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.715 * [backup-simplify]: Simplify -0.5 into -0.5 23.715 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.715 * [backup-simplify]: Simplify phi1 into phi1 23.715 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.715 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.715 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.715 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.715 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.716 * [backup-simplify]: Simplify (- 0) into 0 23.716 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.716 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.716 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.716 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.716 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.716 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.716 * [backup-simplify]: Simplify -0.5 into -0.5 23.716 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.716 * [backup-simplify]: Simplify phi2 into phi2 23.716 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.716 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.716 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.716 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.717 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.717 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.717 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.717 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.717 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.717 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.717 * [backup-simplify]: Simplify -0.5 into -0.5 23.717 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.717 * [backup-simplify]: Simplify phi1 into phi1 23.717 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.717 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.717 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.717 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.717 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.717 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.718 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.718 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.718 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.718 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.718 * [backup-simplify]: Simplify -0.5 into -0.5 23.718 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.718 * [backup-simplify]: Simplify phi2 into phi2 23.718 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.718 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.718 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.718 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.718 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.718 * [backup-simplify]: Simplify -0.5 into -0.5 23.718 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.718 * [backup-simplify]: Simplify phi2 into phi2 23.718 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.718 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.718 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.718 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.719 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.719 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.719 * [backup-simplify]: Simplify -0.5 into -0.5 23.719 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.719 * [backup-simplify]: Simplify phi1 into phi1 23.719 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.719 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.719 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.719 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.719 * [backup-simplify]: Simplify -0.5 into -0.5 23.719 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.719 * [backup-simplify]: Simplify phi1 into phi1 23.719 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.719 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.719 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.719 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.719 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.719 * [backup-simplify]: Simplify -0.5 into -0.5 23.719 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.719 * [backup-simplify]: Simplify phi2 into phi2 23.720 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.720 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.720 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.720 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.720 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.720 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.720 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.720 * [backup-simplify]: Simplify -0.5 into -0.5 23.720 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.720 * [backup-simplify]: Simplify phi2 into phi2 23.720 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.720 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.720 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.720 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 23.720 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.720 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.720 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.720 * [backup-simplify]: Simplify -0.5 into -0.5 23.720 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.720 * [backup-simplify]: Simplify phi1 into phi1 23.720 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.720 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.720 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.720 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.720 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.720 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.720 * [backup-simplify]: Simplify -0.5 into -0.5 23.720 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.720 * [backup-simplify]: Simplify phi1 into phi1 23.720 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.721 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.721 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.721 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.721 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.721 * [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)) 23.721 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.721 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.721 * [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)) 23.722 * [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))) 23.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.722 * [backup-simplify]: Simplify (- 0) into 0 23.722 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.723 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.723 * [backup-simplify]: Simplify (- 0) into 0 23.723 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.723 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.724 * [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)))) 23.724 * [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))))) 23.724 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.724 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.724 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.724 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.724 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.724 * [backup-simplify]: Simplify (- 0) into 0 23.724 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.724 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.725 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.725 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.725 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.725 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.725 * [backup-simplify]: Simplify (- 0) into 0 23.725 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.725 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.725 * [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)))) 23.725 * [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))))) 23.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.726 * [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))))))) 23.727 * [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))))))) 23.729 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 23.731 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.731 * [backup-simplify]: Simplify (+ 0) into 0 23.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.732 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.733 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.733 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.733 * [backup-simplify]: Simplify (- 0) into 0 23.734 * [backup-simplify]: Simplify (+ 0 0) into 0 23.734 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.734 * [backup-simplify]: Simplify (+ 0) into 0 23.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.735 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.736 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.736 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.737 * [backup-simplify]: Simplify (- 0) into 0 23.737 * [backup-simplify]: Simplify (+ 0 0) into 0 23.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.738 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.738 * [backup-simplify]: Simplify (+ 0) into 0 23.739 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.739 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.740 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.740 * [backup-simplify]: Simplify (+ 0 0) into 0 23.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.741 * [backup-simplify]: Simplify (+ 0) into 0 23.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.741 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.742 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.743 * [backup-simplify]: Simplify (+ 0 0) into 0 23.743 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.743 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.744 * [backup-simplify]: Simplify (+ 0 0) into 0 23.744 * [backup-simplify]: Simplify (+ 0) into 0 23.745 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.745 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.746 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.746 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.746 * [backup-simplify]: Simplify (+ 0 0) into 0 23.747 * [backup-simplify]: Simplify (+ 0) into 0 23.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.747 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.749 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.749 * [backup-simplify]: Simplify (- 0) into 0 23.749 * [backup-simplify]: Simplify (+ 0 0) into 0 23.750 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.750 * [backup-simplify]: Simplify (+ 0) into 0 23.750 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.751 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.751 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.752 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.752 * [backup-simplify]: Simplify (+ 0 0) into 0 23.752 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.753 * [backup-simplify]: Simplify (+ 0) into 0 23.753 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.754 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.754 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.755 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.755 * [backup-simplify]: Simplify (- 0) into 0 23.756 * [backup-simplify]: Simplify (+ 0 0) into 0 23.756 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.756 * [backup-simplify]: Simplify (+ 0) into 0 23.757 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.757 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.758 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.759 * [backup-simplify]: Simplify (- 0) into 0 23.759 * [backup-simplify]: Simplify (+ 0 0) into 0 23.759 * [backup-simplify]: Simplify (+ 0) into 0 23.760 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.760 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.761 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.761 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.762 * [backup-simplify]: Simplify (+ 0 0) into 0 23.762 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.762 * [backup-simplify]: Simplify (+ 0) into 0 23.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.763 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.764 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.764 * [backup-simplify]: Simplify (- 0) into 0 23.764 * [backup-simplify]: Simplify (+ 0 0) into 0 23.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.765 * [backup-simplify]: Simplify (+ 0) into 0 23.765 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.765 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.766 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.766 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.766 * [backup-simplify]: Simplify (+ 0 0) into 0 23.767 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.767 * [backup-simplify]: Simplify (+ 0 0) into 0 23.767 * [backup-simplify]: Simplify (- 0) into 0 23.767 * [backup-simplify]: Simplify (+ 0 0) into 0 23.770 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.771 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.771 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) R)) in lambda2 23.771 * [taylor]: Taking taylor expansion of (* (pow phi1 2) R) in lambda2 23.771 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 23.771 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.771 * [backup-simplify]: Simplify phi1 into phi1 23.771 * [taylor]: Taking taylor expansion of R in lambda2 23.771 * [backup-simplify]: Simplify R into R 23.771 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 23.771 * [backup-simplify]: Simplify (* (pow phi1 2) R) into (* R (pow phi1 2)) 23.771 * [backup-simplify]: Simplify (/ 1 (* R (pow phi1 2))) into (/ 1 (* R (pow phi1 2))) 23.771 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))))) in lambda2 23.771 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in lambda2 23.771 * [taylor]: Taking taylor expansion of 1/2 in lambda2 23.771 * [backup-simplify]: Simplify 1/2 into 1/2 23.771 * [taylor]: Taking taylor expansion of (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in lambda2 23.771 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) R)) in lambda2 23.771 * [taylor]: Taking taylor expansion of (* (pow phi2 2) R) in lambda2 23.771 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 23.771 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.771 * [backup-simplify]: Simplify phi2 into phi2 23.771 * [taylor]: Taking taylor expansion of R in lambda2 23.771 * [backup-simplify]: Simplify R into R 23.771 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 23.771 * [backup-simplify]: Simplify (* (pow phi2 2) R) into (* (pow phi2 2) R) 23.772 * [backup-simplify]: Simplify (/ 1 (* (pow phi2 2) R)) into (/ 1 (* (pow phi2 2) R)) 23.772 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in lambda2 23.772 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in lambda2 23.772 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.772 * [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 23.772 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.772 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.772 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.772 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.772 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.772 * [backup-simplify]: Simplify -0.5 into -0.5 23.772 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.772 * [backup-simplify]: Simplify phi2 into phi2 23.772 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.772 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.772 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.778 * [backup-simplify]: Simplify (- 0) into 0 23.778 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.778 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.778 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.778 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.778 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.778 * [backup-simplify]: Simplify -0.5 into -0.5 23.778 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.778 * [backup-simplify]: Simplify phi1 into phi1 23.778 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.779 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.779 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.779 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.779 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.779 * [backup-simplify]: Simplify (- 0) into 0 23.780 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.780 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.780 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.780 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.780 * [taylor]: Taking taylor expansion of (/ -0.5 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 phi2 in lambda2 23.780 * [backup-simplify]: Simplify phi2 into phi2 23.780 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.780 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.780 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.781 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.781 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.781 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.781 * [backup-simplify]: Simplify -0.5 into -0.5 23.781 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.781 * [backup-simplify]: Simplify phi1 into phi1 23.781 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.781 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.781 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.781 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.781 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.781 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.781 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.781 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.781 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.781 * [backup-simplify]: Simplify -0.5 into -0.5 23.781 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.781 * [backup-simplify]: Simplify phi2 into phi2 23.782 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.782 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.782 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.782 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.782 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.782 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.782 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.782 * [backup-simplify]: Simplify -0.5 into -0.5 23.782 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.782 * [backup-simplify]: Simplify phi2 into phi2 23.782 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.782 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.782 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.782 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.782 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.782 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.782 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.782 * [backup-simplify]: Simplify -0.5 into -0.5 23.782 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.782 * [backup-simplify]: Simplify phi1 into phi1 23.782 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.782 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.783 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.783 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.783 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.783 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.783 * [backup-simplify]: Simplify -0.5 into -0.5 23.783 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.783 * [backup-simplify]: Simplify phi1 into phi1 23.783 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.783 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.783 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.783 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.783 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.783 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.783 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.783 * [backup-simplify]: Simplify -0.5 into -0.5 23.783 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.783 * [backup-simplify]: Simplify phi2 into phi2 23.783 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.783 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.783 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.783 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.784 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.784 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) 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 phi2 in lambda2 23.784 * [backup-simplify]: Simplify phi2 into phi2 23.784 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.784 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.784 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.784 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 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) 23.784 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.784 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 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 23.785 * [backup-simplify]: Simplify phi1 into phi1 23.785 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.785 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -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 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.785 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.785 * [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)) 23.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.786 * [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)) 23.787 * [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))) 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)) 1) into (sin (/ -0.5 phi2)) 23.788 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.788 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.788 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.788 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.789 * [backup-simplify]: Simplify (- 0) into 0 23.789 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.789 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.789 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.789 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.789 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.789 * [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)))) 23.790 * [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))))) 23.790 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.790 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.790 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.790 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.790 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.791 * [backup-simplify]: Simplify (- 0) into 0 23.791 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.791 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.791 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.791 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.791 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.791 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.791 * [backup-simplify]: Simplify (- 0) into 0 23.791 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.791 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.791 * [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)))) 23.792 * [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))))) 23.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.793 * [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))))))) 23.794 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (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))))))) 23.795 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 23.796 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.796 * [backup-simplify]: Simplify (+ 0) into 0 23.797 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.797 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.797 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.798 * [backup-simplify]: Simplify (- 0) into 0 23.798 * [backup-simplify]: Simplify (+ 0 0) into 0 23.798 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.798 * [backup-simplify]: Simplify (+ 0) into 0 23.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.799 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.799 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.800 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.800 * [backup-simplify]: Simplify (- 0) into 0 23.800 * [backup-simplify]: Simplify (+ 0 0) into 0 23.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.800 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.801 * [backup-simplify]: Simplify (+ 0) into 0 23.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.801 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.802 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.802 * [backup-simplify]: Simplify (+ 0 0) into 0 23.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.803 * [backup-simplify]: Simplify (+ 0) into 0 23.803 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.803 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.803 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.804 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.804 * [backup-simplify]: Simplify (+ 0 0) into 0 23.804 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.804 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.805 * [backup-simplify]: Simplify (+ 0 0) into 0 23.805 * [backup-simplify]: Simplify (+ 0) into 0 23.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.805 * [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 (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.807 * [backup-simplify]: Simplify (+ 0 0) into 0 23.807 * [backup-simplify]: Simplify (+ 0) into 0 23.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.807 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.808 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.808 * [backup-simplify]: Simplify (- 0) into 0 23.809 * [backup-simplify]: Simplify (+ 0 0) into 0 23.809 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) 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 23.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.811 * [backup-simplify]: Simplify (+ 0) into 0 23.811 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.812 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.813 * [backup-simplify]: Simplify (- 0) into 0 23.813 * [backup-simplify]: Simplify (+ 0 0) into 0 23.813 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.813 * [backup-simplify]: Simplify (+ 0) into 0 23.814 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.814 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.814 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.815 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.815 * [backup-simplify]: Simplify (- 0) into 0 23.815 * [backup-simplify]: Simplify (+ 0 0) into 0 23.815 * [backup-simplify]: Simplify (+ 0) into 0 23.816 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.816 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.816 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.817 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.817 * [backup-simplify]: Simplify (+ 0 0) into 0 23.817 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.817 * [backup-simplify]: Simplify (+ 0) into 0 23.818 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.818 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.819 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.819 * [backup-simplify]: Simplify (- 0) into 0 23.819 * [backup-simplify]: Simplify (+ 0 0) into 0 23.820 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.820 * [backup-simplify]: Simplify (+ 0) into 0 23.820 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.821 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.821 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.822 * [backup-simplify]: Simplify (+ 0 0) into 0 23.822 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.822 * [backup-simplify]: Simplify (+ 0 0) into 0 23.822 * [backup-simplify]: Simplify (- 0) into 0 23.823 * [backup-simplify]: Simplify (+ 0 0) into 0 23.825 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.826 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.826 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* 3/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))))) in lambda2 23.826 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in lambda2 23.826 * [taylor]: Taking taylor expansion of 1/2 in lambda2 23.826 * [backup-simplify]: Simplify 1/2 into 1/2 23.826 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in lambda2 23.826 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* R (pow lambda2 2))) in lambda2 23.826 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.826 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.826 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.826 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.826 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.826 * [backup-simplify]: Simplify -0.5 into -0.5 23.826 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.826 * [backup-simplify]: Simplify phi2 into phi2 23.826 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.826 * [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)) 23.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.827 * [backup-simplify]: Simplify (- 0) into 0 23.827 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.827 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.827 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.827 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.827 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.827 * [backup-simplify]: Simplify -0.5 into -0.5 23.827 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.827 * [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 23.828 * [backup-simplify]: Simplify (- 0) into 0 23.828 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.828 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 23.828 * [taylor]: Taking taylor expansion of R in lambda2 23.828 * [backup-simplify]: Simplify R into R 23.828 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.828 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.828 * [backup-simplify]: Simplify 0 into 0 23.828 * [backup-simplify]: Simplify 1 into 1 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 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.828 * [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)) 23.829 * [backup-simplify]: Simplify (* 1 1) into 1 23.829 * [backup-simplify]: Simplify (* R 1) into R 23.829 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 23.829 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in lambda2 23.829 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in lambda2 23.829 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.829 * [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 23.829 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.829 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.829 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.829 * [backup-simplify]: Simplify -0.5 into -0.5 23.829 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.829 * [backup-simplify]: Simplify phi2 into phi2 23.829 * [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 (cos (/ -0.5 phi1)) 2) in lambda2 23.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.830 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.831 * [backup-simplify]: Simplify -0.5 into -0.5 23.831 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.831 * [backup-simplify]: Simplify phi1 into phi1 23.831 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.831 * [backup-simplify]: Simplify (- 0) into 0 23.831 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.832 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.832 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.832 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.832 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.832 * [backup-simplify]: Simplify -0.5 into -0.5 23.832 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.832 * [backup-simplify]: Simplify phi2 into phi2 23.832 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.832 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.832 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.832 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.832 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.832 * [backup-simplify]: Simplify -0.5 into -0.5 23.832 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.833 * [backup-simplify]: Simplify phi1 into phi1 23.833 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.833 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.833 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.833 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.833 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.833 * [backup-simplify]: Simplify -0.5 into -0.5 23.833 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.834 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.834 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.834 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.834 * [backup-simplify]: Simplify -0.5 into -0.5 23.834 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.834 * [backup-simplify]: Simplify phi2 into phi2 23.834 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.834 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.834 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.834 * [backup-simplify]: Simplify -0.5 into -0.5 23.834 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.834 * [backup-simplify]: Simplify phi1 into phi1 23.834 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.834 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.835 * [backup-simplify]: Simplify -0.5 into -0.5 23.835 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.835 * [backup-simplify]: Simplify phi1 into phi1 23.835 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.835 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.835 * [backup-simplify]: Simplify -0.5 into -0.5 23.835 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.835 * [backup-simplify]: Simplify phi2 into phi2 23.835 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.835 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.835 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.835 * [backup-simplify]: Simplify -0.5 into -0.5 23.835 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.835 * [backup-simplify]: Simplify phi2 into phi2 23.836 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.836 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 23.836 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.836 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.836 * [backup-simplify]: Simplify -0.5 into -0.5 23.836 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.836 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.836 * [backup-simplify]: Simplify -0.5 into -0.5 23.836 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.837 * [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)) 23.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.838 * [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)) 23.839 * [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))) 23.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.839 * [backup-simplify]: Simplify (- 0) into 0 23.840 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.840 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.840 * [backup-simplify]: Simplify (- 0) into 0 23.841 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.841 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.841 * [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)))) 23.841 * [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))))) 23.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.842 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.842 * [backup-simplify]: Simplify (- 0) into 0 23.843 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.843 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.843 * [backup-simplify]: Simplify (- 0) into 0 23.844 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.844 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.844 * [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)))) 23.844 * [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))))) 23.845 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.846 * [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))))))) 23.848 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (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))))))) 23.850 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 23.852 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.853 * [backup-simplify]: Simplify (+ 0) into 0 23.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.854 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.855 * [backup-simplify]: Simplify (- 0) into 0 23.856 * [backup-simplify]: Simplify (+ 0 0) into 0 23.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.857 * [backup-simplify]: Simplify (+ 0) into 0 23.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.857 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.858 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.859 * [backup-simplify]: Simplify (- 0) into 0 23.859 * [backup-simplify]: Simplify (+ 0 0) into 0 23.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.860 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.861 * [backup-simplify]: Simplify (+ 0) into 0 23.861 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.861 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.863 * [backup-simplify]: Simplify (+ 0 0) into 0 23.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.864 * [backup-simplify]: Simplify (+ 0) into 0 23.864 * [backup-simplify]: Simplify (+ (* (sin (/ -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 23.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.866 * [backup-simplify]: Simplify (+ 0 0) into 0 23.866 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.867 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.867 * [backup-simplify]: Simplify (+ 0 0) into 0 23.867 * [backup-simplify]: Simplify (+ 0) into 0 23.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.868 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.870 * [backup-simplify]: Simplify (+ 0 0) into 0 23.870 * [backup-simplify]: Simplify (+ 0) into 0 23.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.871 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.872 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.873 * [backup-simplify]: Simplify (- 0) into 0 23.873 * [backup-simplify]: Simplify (+ 0 0) into 0 23.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.874 * [backup-simplify]: Simplify (+ 0) into 0 23.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.875 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.876 * [backup-simplify]: Simplify (+ 0 0) into 0 23.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.877 * [backup-simplify]: Simplify (+ 0) into 0 23.877 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.878 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.878 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.879 * [backup-simplify]: Simplify (- 0) into 0 23.880 * [backup-simplify]: Simplify (+ 0 0) into 0 23.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.881 * [backup-simplify]: Simplify (+ 0) into 0 23.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.881 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.883 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.883 * [backup-simplify]: Simplify (- 0) into 0 23.883 * [backup-simplify]: Simplify (+ 0 0) into 0 23.884 * [backup-simplify]: Simplify (+ 0) into 0 23.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.885 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.886 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.886 * [backup-simplify]: Simplify (+ 0 0) into 0 23.886 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.887 * [backup-simplify]: Simplify (+ 0) into 0 23.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.889 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.890 * [backup-simplify]: Simplify (- 0) into 0 23.890 * [backup-simplify]: Simplify (+ 0 0) into 0 23.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.891 * [backup-simplify]: Simplify (+ 0) into 0 23.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.892 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.893 * [backup-simplify]: Simplify (+ 0 0) into 0 23.894 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.894 * [backup-simplify]: Simplify (+ 0 0) into 0 23.895 * [backup-simplify]: Simplify (- 0) into 0 23.895 * [backup-simplify]: Simplify (+ 0 0) into 0 23.899 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.902 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.902 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))))) in lambda2 23.902 * [taylor]: Taking taylor expansion of 3/2 in lambda2 23.902 * [backup-simplify]: Simplify 3/2 into 3/2 23.902 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)))) in lambda2 23.902 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (pow lambda2 2))) in lambda2 23.902 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) in lambda2 23.902 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.902 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.902 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.902 * [backup-simplify]: Simplify -0.5 into -0.5 23.902 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.902 * [backup-simplify]: Simplify phi1 into phi1 23.902 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.902 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.902 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.902 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3))) in lambda2 23.902 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.902 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.902 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.903 * [backup-simplify]: Simplify -0.5 into -0.5 23.903 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.903 * [backup-simplify]: Simplify phi2 into phi2 23.903 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.903 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.903 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)) in lambda2 23.903 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2 23.903 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.903 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.903 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.903 * [backup-simplify]: Simplify -0.5 into -0.5 23.903 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.903 * [backup-simplify]: Simplify phi2 into phi2 23.903 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.903 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.904 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.904 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2 23.904 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.904 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.904 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.904 * [backup-simplify]: Simplify -0.5 into -0.5 23.904 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.904 * [backup-simplify]: Simplify phi1 into phi1 23.904 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.904 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.904 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.905 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.905 * [taylor]: Taking taylor expansion of (* R (pow lambda2 2)) in lambda2 23.905 * [taylor]: Taking taylor expansion of R in lambda2 23.905 * [backup-simplify]: Simplify R into R 23.905 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 23.905 * [taylor]: Taking taylor expansion of lambda2 in lambda2 23.905 * [backup-simplify]: Simplify 0 into 0 23.905 * [backup-simplify]: Simplify 1 into 1 23.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.906 * [backup-simplify]: Simplify (- 0) into 0 23.906 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.906 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.906 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.906 * [backup-simplify]: Simplify (- 0) into 0 23.907 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3) 23.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.908 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3) 23.908 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)) into (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)) 23.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3))) into (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 3))) 23.909 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 3)))) into (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 3)))) 23.910 * [backup-simplify]: Simplify (* 1 1) into 1 23.910 * [backup-simplify]: Simplify (* R 1) into R 23.910 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 3)))) R) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) 23.910 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3))) in lambda2 23.910 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3)) in lambda2 23.910 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) in lambda2 23.910 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 23.911 * [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 23.911 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 23.911 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 23.911 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.911 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.911 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.911 * [backup-simplify]: Simplify -0.5 into -0.5 23.911 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.911 * [backup-simplify]: Simplify phi2 into phi2 23.911 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.911 * [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 23.912 * [backup-simplify]: Simplify (- 0) into 0 23.912 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.912 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 23.912 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.912 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.912 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.912 * [backup-simplify]: Simplify -0.5 into -0.5 23.912 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.912 * [backup-simplify]: Simplify phi1 into phi1 23.912 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.912 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.912 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.912 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.912 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.913 * [backup-simplify]: Simplify (- 0) into 0 23.913 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.913 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 23.913 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 23.913 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.913 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.913 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.913 * [backup-simplify]: Simplify -0.5 into -0.5 23.913 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.913 * [backup-simplify]: Simplify phi2 into phi2 23.913 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.913 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.913 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.913 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.913 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.913 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 23.913 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.913 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.913 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.913 * [backup-simplify]: Simplify -0.5 into -0.5 23.913 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.913 * [backup-simplify]: Simplify phi1 into phi1 23.913 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.913 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.913 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.914 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.914 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.914 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.914 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 23.914 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 23.914 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.914 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.914 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.914 * [backup-simplify]: Simplify -0.5 into -0.5 23.914 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 23.914 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.914 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.914 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.914 * [backup-simplify]: Simplify -0.5 into -0.5 23.914 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.914 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.914 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 23.914 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.914 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.914 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.914 * [backup-simplify]: Simplify -0.5 into -0.5 23.914 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.914 * [backup-simplify]: Simplify phi1 into phi1 23.914 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.914 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.914 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.915 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.915 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.915 * [backup-simplify]: Simplify -0.5 into -0.5 23.915 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.915 * [backup-simplify]: Simplify phi1 into phi1 23.915 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.915 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.915 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.915 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 23.915 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 23.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.915 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.915 * [backup-simplify]: Simplify -0.5 into -0.5 23.915 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.915 * [backup-simplify]: Simplify phi2 into phi2 23.915 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.915 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.915 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.915 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 23.915 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 23.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 23.915 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.915 * [backup-simplify]: Simplify -0.5 into -0.5 23.915 * [taylor]: Taking taylor expansion of phi2 in lambda2 23.915 * [backup-simplify]: Simplify phi2 into phi2 23.915 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 23.915 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 23.915 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 23.915 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 23.915 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 23.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.915 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.915 * [backup-simplify]: Simplify -0.5 into -0.5 23.915 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.915 * [backup-simplify]: Simplify phi1 into phi1 23.915 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.915 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.916 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.916 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 23.916 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 23.916 * [taylor]: Taking taylor expansion of -0.5 in lambda2 23.916 * [backup-simplify]: Simplify -0.5 into -0.5 23.916 * [taylor]: Taking taylor expansion of phi1 in lambda2 23.916 * [backup-simplify]: Simplify phi1 into phi1 23.916 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 23.916 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 23.916 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 23.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 23.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 23.916 * [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)) 23.917 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 23.917 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 23.917 * [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)) 23.917 * [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))) 23.917 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.917 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.918 * [backup-simplify]: Simplify (- 0) into 0 23.918 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) 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 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.918 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.918 * [backup-simplify]: Simplify (- 0) into 0 23.918 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.919 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.919 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.919 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.919 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 23.919 * [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)))) 23.919 * [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))))) 23.919 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 23.919 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 23.919 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 23.919 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 23.919 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 23.920 * [backup-simplify]: Simplify (- 0) into 0 23.920 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 23.920 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 23.920 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 23.920 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 23.920 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 23.920 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 23.920 * [backup-simplify]: Simplify (- 0) into 0 23.920 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 23.920 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 23.921 * [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)))) 23.921 * [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))))) 23.921 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 23.922 * [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))))))) 23.923 * [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))))))) 23.925 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 23.927 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 23.929 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 23.936 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (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))))))))) (/ 1 (- (+ (* (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))))))))) 23.936 * [backup-simplify]: Simplify (+ 0) into 0 23.937 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.937 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.938 * [backup-simplify]: Simplify (- 0) into 0 23.938 * [backup-simplify]: Simplify (+ 0 0) into 0 23.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.939 * [backup-simplify]: Simplify (+ 0) into 0 23.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.939 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.940 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.940 * [backup-simplify]: Simplify (- 0) into 0 23.941 * [backup-simplify]: Simplify (+ 0 0) into 0 23.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.941 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.942 * [backup-simplify]: Simplify (+ 0) into 0 23.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.942 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.944 * [backup-simplify]: Simplify (+ 0 0) into 0 23.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.944 * [backup-simplify]: Simplify (+ 0) into 0 23.945 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.945 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.947 * [backup-simplify]: Simplify (+ 0 0) into 0 23.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.947 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 23.948 * [backup-simplify]: Simplify (+ 0 0) into 0 23.948 * [backup-simplify]: Simplify (+ 0) into 0 23.948 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.949 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.950 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.950 * [backup-simplify]: Simplify (+ 0 0) into 0 23.951 * [backup-simplify]: Simplify (+ 0) into 0 23.951 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.951 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.952 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.953 * [backup-simplify]: Simplify (- 0) into 0 23.953 * [backup-simplify]: Simplify (+ 0 0) into 0 23.953 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 23.954 * [backup-simplify]: Simplify (+ 0) into 0 23.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.954 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.956 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.956 * [backup-simplify]: Simplify (+ 0 0) into 0 23.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 23.957 * [backup-simplify]: Simplify (+ 0) into 0 23.957 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.957 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.959 * [backup-simplify]: Simplify (- 0) into 0 23.959 * [backup-simplify]: Simplify (+ 0 0) into 0 23.959 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 23.960 * [backup-simplify]: Simplify (+ 0) into 0 23.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.960 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.962 * [backup-simplify]: Simplify (- 0) into 0 23.962 * [backup-simplify]: Simplify (+ 0 0) into 0 23.963 * [backup-simplify]: Simplify (+ 0) into 0 23.963 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.963 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.964 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.965 * [backup-simplify]: Simplify (+ 0 0) into 0 23.965 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.965 * [backup-simplify]: Simplify (+ 0) into 0 23.966 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.966 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.967 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.968 * [backup-simplify]: Simplify (- 0) into 0 23.968 * [backup-simplify]: Simplify (+ 0 0) into 0 23.968 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 23.969 * [backup-simplify]: Simplify (+ 0) into 0 23.969 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.969 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.970 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.970 * [backup-simplify]: Simplify (+ 0 0) into 0 23.971 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 23.971 * [backup-simplify]: Simplify (+ 0 0) into 0 23.971 * [backup-simplify]: Simplify (- 0) into 0 23.971 * [backup-simplify]: Simplify (+ 0 0) into 0 23.973 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 23.976 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 23.980 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 23.983 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 23.983 * [backup-simplify]: Simplify (+ 0) into 0 23.984 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 23.984 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 23.984 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.985 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 23.985 * [backup-simplify]: Simplify (- 0) into 0 23.985 * [backup-simplify]: Simplify (+ 0 0) into 0 23.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 23.986 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 23.986 * [backup-simplify]: Simplify (+ 0) into 0 23.986 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.986 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.987 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.987 * [backup-simplify]: Simplify (- 0) into 0 23.988 * [backup-simplify]: Simplify (+ 0 0) into 0 23.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 23.988 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 23.988 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (* 0 (pow (cos (/ -0.5 phi1)) 4))) into 0 23.989 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 23.989 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 23.989 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (/ 0 R)))) into 0 23.992 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 23.994 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (* (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))))))))) (/ 1 (- (+ (* (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)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (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)))))))))) 23.997 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (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)))))))))))) into 0 23.997 * [backup-simplify]: Simplify (+ 0) into 0 23.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 23.998 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 23.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 23.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 23.999 * [backup-simplify]: Simplify (+ 0 0) into 0 23.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 23.999 * [backup-simplify]: Simplify (+ 0) into 0 24.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.001 * [backup-simplify]: Simplify (- 0) into 0 24.001 * [backup-simplify]: Simplify (+ 0 0) into 0 24.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.002 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 24.002 * [backup-simplify]: Simplify (+ 0) into 0 24.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.002 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.003 * [backup-simplify]: Simplify (- 0) into 0 24.004 * [backup-simplify]: Simplify (+ 0 0) into 0 24.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.004 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) into 0 24.005 * [backup-simplify]: Simplify (+ 0) into 0 24.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.005 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.007 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.007 * [backup-simplify]: Simplify (+ 0 0) into 0 24.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.008 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))))) into 0 24.009 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.009 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 24.011 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) R) (/ 0 R)))) into 0 24.015 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.020 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) R) (* (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))))))))) (/ 1 (- (+ (* (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 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))) R)) (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)))))))))) 24.026 * [backup-simplify]: Simplify (+ (* 3/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))) R)) (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)))))))))))) into 0 24.027 * [backup-simplify]: Simplify (+ 0) into 0 24.028 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.028 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.029 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.030 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.030 * [backup-simplify]: Simplify (+ 0 0) into 0 24.031 * [backup-simplify]: Simplify (+ 0) into 0 24.031 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.031 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.032 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.033 * [backup-simplify]: Simplify (- 0) into 0 24.034 * [backup-simplify]: Simplify (+ 0 0) into 0 24.034 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.034 * [backup-simplify]: Simplify (+ 0) into 0 24.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.035 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.036 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.037 * [backup-simplify]: Simplify (+ 0 0) into 0 24.037 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into 0 24.037 * [backup-simplify]: Simplify (+ 0) into 0 24.038 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.038 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.039 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.040 * [backup-simplify]: Simplify (- 0) into 0 24.040 * [backup-simplify]: Simplify (+ 0 0) into 0 24.041 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 24.041 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.042 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 24.042 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) (/ 0 R)))) into 0 24.046 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.048 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) (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)))))))))) into (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R) (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)))))))))) 24.052 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 24.052 * [backup-simplify]: Simplify (+ 0) into 0 24.053 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.053 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.055 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.055 * [backup-simplify]: Simplify (+ 0 0) into 0 24.055 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.056 * [backup-simplify]: Simplify (+ 0) into 0 24.056 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.056 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.057 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.058 * [backup-simplify]: Simplify (- 0) into 0 24.058 * [backup-simplify]: Simplify (+ 0 0) into 0 24.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.059 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.059 * [backup-simplify]: Simplify (+ 0) into 0 24.060 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.060 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.061 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.062 * [backup-simplify]: Simplify (- 0) into 0 24.062 * [backup-simplify]: Simplify (+ 0 0) into 0 24.062 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.063 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into 0 24.063 * [backup-simplify]: Simplify (+ 0) into 0 24.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.064 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.065 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.066 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.066 * [backup-simplify]: Simplify (+ 0 0) into 0 24.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.067 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))))) into 0 24.068 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.068 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 24.069 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)))) into 0 24.074 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.078 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (* (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))))))))) (/ 1 (- (+ (* (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 (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))) R)) (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)))))))))) 24.085 * [backup-simplify]: Simplify (+ (* 3/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (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))))))) R)) (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)))))))))))) into 0 24.086 * [backup-simplify]: Simplify (+ 0) into 0 24.086 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.086 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.087 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.088 * [backup-simplify]: Simplify (+ 0 0) into 0 24.088 * [backup-simplify]: Simplify (+ 0) into 0 24.088 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.088 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.089 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.089 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.089 * [backup-simplify]: Simplify (- 0) into 0 24.090 * [backup-simplify]: Simplify (+ 0 0) into 0 24.090 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.090 * [backup-simplify]: Simplify (+ 0) into 0 24.090 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.090 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.091 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.091 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.091 * [backup-simplify]: Simplify (+ 0 0) into 0 24.092 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 24.092 * [backup-simplify]: Simplify (+ 0) into 0 24.092 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.092 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.093 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 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 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 24.094 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.095 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 24.095 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0 24.096 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.098 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (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)))))))))) into (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) (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)))))))))) 24.100 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 24.100 * [backup-simplify]: Simplify (+ 0) into 0 24.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.101 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.102 * [backup-simplify]: Simplify (+ 0 0) into 0 24.102 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.102 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.102 * [backup-simplify]: Simplify (+ 0) into 0 24.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.103 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.103 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.104 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.104 * [backup-simplify]: Simplify (+ 0 0) into 0 24.104 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.104 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 24.104 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0 24.105 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.105 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 24.105 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (/ 0 R)))) into 0 24.108 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.110 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (* (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))))))))) (/ 1 (- (+ (* (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 (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (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)))))))))) 24.113 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (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)))))))))))) into 0 24.114 * [backup-simplify]: Simplify (+ 0 0) into 0 24.114 * [backup-simplify]: Simplify (+ 0 0) into 0 24.114 * [backup-simplify]: Simplify (+ 0 0) into 0 24.114 * [backup-simplify]: Simplify (+ 0 0) into 0 24.115 * [backup-simplify]: Simplify (+ 0 0) into 0 24.115 * [backup-simplify]: Simplify (+ 0 0) into 0 24.115 * [backup-simplify]: Simplify (+ 0) into 0 24.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.116 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.117 * [backup-simplify]: Simplify (- 0) into 0 24.117 * [backup-simplify]: Simplify (+ 0 0) into 0 24.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 24.118 * [backup-simplify]: Simplify (+ 0) into 0 24.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.118 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.119 * [backup-simplify]: Simplify (- 0) into 0 24.119 * [backup-simplify]: Simplify (+ 0 0) into 0 24.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.120 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (pow (cos (/ -0.5 phi2)) 3))) into 0 24.120 * [backup-simplify]: Simplify (+ 0) into 0 24.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.121 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.122 * [backup-simplify]: Simplify (+ 0 0) into 0 24.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) into 0 24.122 * [backup-simplify]: Simplify (+ 0) into 0 24.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.123 * [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 (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.124 * [backup-simplify]: Simplify (+ 0 0) into 0 24.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3))))) into 0 24.124 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.125 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 24.125 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) R) (/ 0 R)))) into 0 24.128 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.130 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) R) (* (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))))))))) (/ 1 (- (+ (* (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 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 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))))))) R)) (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)))))))))) 24.134 * [backup-simplify]: Simplify (+ (* 3/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 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))))))) R)) (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)))))))))))) into 0 24.134 * [backup-simplify]: Simplify (+ 0) into 0 24.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.134 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.136 * [backup-simplify]: Simplify (+ 0 0) into 0 24.136 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.136 * [backup-simplify]: Simplify (+ 0) into 0 24.136 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.136 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.137 * [backup-simplify]: Simplify (+ 0 0) into 0 24.138 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.138 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.138 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.139 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 24.139 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0 24.140 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.142 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (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)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (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)))))))))) 24.143 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 24.144 * [backup-simplify]: Simplify (+ 0) into 0 24.144 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.144 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.145 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.145 * [backup-simplify]: Simplify (- 0) into 0 24.145 * [backup-simplify]: Simplify (+ 0 0) into 0 24.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.146 * [backup-simplify]: Simplify (+ 0) into 0 24.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.146 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.147 * [backup-simplify]: Simplify (- 0) into 0 24.148 * [backup-simplify]: Simplify (+ 0 0) into 0 24.148 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.148 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 24.148 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (pow (cos (/ -0.5 phi1)) 3))) into 0 24.149 * [backup-simplify]: Simplify (+ 0) into 0 24.149 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.149 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.151 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.151 * [backup-simplify]: Simplify (+ 0 0) into 0 24.151 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) into 0 24.151 * [backup-simplify]: Simplify (+ 0) into 0 24.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.152 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.153 * [backup-simplify]: Simplify (+ 0 0) into 0 24.153 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 3))))) into 0 24.154 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.154 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 24.154 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) R) (/ 0 R)))) into 0 24.157 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.159 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) R) (* (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))))))))) (/ 1 (- (+ (* (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)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))) R)) (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)))))))))) 24.163 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))) R)) (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)))))))))))) into 0 24.163 * [backup-simplify]: Simplify (+ 0) into 0 24.164 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.164 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.165 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.165 * [backup-simplify]: Simplify (- 0) into 0 24.165 * [backup-simplify]: Simplify (+ 0 0) into 0 24.166 * [backup-simplify]: Simplify (+ 0) into 0 24.166 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.166 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.167 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.167 * [backup-simplify]: Simplify (+ 0 0) into 0 24.167 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.167 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.168 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.168 * [backup-simplify]: Simplify (+ 0) into 0 24.168 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.168 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.169 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.169 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.169 * [backup-simplify]: Simplify (- 0) into 0 24.170 * [backup-simplify]: Simplify (+ 0 0) into 0 24.170 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) into 0 24.170 * [backup-simplify]: Simplify (+ 0) into 0 24.171 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.171 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.171 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.172 * [backup-simplify]: Simplify (+ 0 0) into 0 24.172 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.172 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 24.172 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))) into 0 24.173 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.173 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 24.174 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) R) (/ 0 R)))) into 0 24.176 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.179 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) R) (* (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))))))))) (/ 1 (- (+ (* (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 (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (cos (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R)) (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)))))))))) 24.182 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (cos (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R)) (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)))))))))))) into 0 24.187 * [backup-simplify]: Simplify (+ 0) into 0 24.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.188 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.189 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.189 * [backup-simplify]: Simplify (- 0) into 0 24.189 * [backup-simplify]: Simplify (+ 0 0) into 0 24.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.189 * [backup-simplify]: Simplify (+ 0) into 0 24.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.190 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.191 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.191 * [backup-simplify]: Simplify (- 0) into 0 24.191 * [backup-simplify]: Simplify (+ 0 0) into 0 24.191 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.192 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.192 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.192 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 24.193 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0 24.194 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.195 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (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)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (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)))))))))) 24.197 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 24.197 * [backup-simplify]: Simplify (+ 0) into 0 24.198 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.198 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.199 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.199 * [backup-simplify]: Simplify (+ 0 0) into 0 24.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.200 * [backup-simplify]: Simplify (+ 0) into 0 24.200 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.200 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.201 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.201 * [backup-simplify]: Simplify (+ 0 0) into 0 24.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 24.202 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (pow (sin (/ -0.5 phi1)) 3))) into 0 24.202 * [backup-simplify]: Simplify (+ 0) into 0 24.202 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.202 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.203 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.203 * [backup-simplify]: Simplify (- 0) into 0 24.204 * [backup-simplify]: Simplify (+ 0 0) into 0 24.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) into 0 24.204 * [backup-simplify]: Simplify (+ 0) into 0 24.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.205 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.205 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.206 * [backup-simplify]: Simplify (- 0) into 0 24.206 * [backup-simplify]: Simplify (+ 0 0) into 0 24.206 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 3))))) into 0 24.207 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 24.207 * [backup-simplify]: Simplify (+ (* R 0) (* 0 1)) into 0 24.207 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)))) into 0 24.210 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.213 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (* (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))))))))) (/ 1 (- (+ (* (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 (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 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))))))) R)) (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)))))))))) 24.216 * [backup-simplify]: Simplify (+ (* 3/2 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 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))))))) R)) (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)))))))))))) into 0 24.216 * [backup-simplify]: Simplify (+ 0 0) into 0 24.216 * [backup-simplify]: Simplify (+ 0 0) into 0 24.216 * [backup-simplify]: Simplify (+ 0 0) into 0 24.217 * [backup-simplify]: Simplify (+ 0 0) into 0 24.217 * [backup-simplify]: Simplify (+ 0 0) into 0 24.217 * [backup-simplify]: Simplify (+ 0 0) into 0 24.217 * [backup-simplify]: Simplify (+ 0 0) into 0 24.218 * [backup-simplify]: Simplify (- 0) into 0 24.218 * [backup-simplify]: Simplify (+ 0 0) into 0 24.218 * [taylor]: Taking taylor expansion of 0 in phi2 24.218 * [backup-simplify]: Simplify 0 into 0 24.218 * [backup-simplify]: Simplify (+ 0) into 0 24.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.219 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.220 * [backup-simplify]: Simplify (+ 0 0) into 0 24.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.220 * [backup-simplify]: Simplify (+ 0) into 0 24.221 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.221 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.221 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.222 * [backup-simplify]: Simplify (+ 0 0) into 0 24.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.222 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.223 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0 24.223 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0 24.224 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.224 * [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 24.225 * [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 24.226 * [backup-simplify]: Simplify (+ 0 0) into 0 24.226 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.227 * [backup-simplify]: Simplify (+ 0) into 0 24.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.227 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.228 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.228 * [backup-simplify]: Simplify (- 0) into 0 24.229 * [backup-simplify]: Simplify (+ 0 0) into 0 24.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.229 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.229 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0 24.230 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0 24.231 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.231 * [backup-simplify]: Simplify (+ 0 0) into 0 24.232 * [backup-simplify]: Simplify (+ 0) into 0 24.232 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.232 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.233 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.233 * [backup-simplify]: Simplify (+ 0 0) into 0 24.233 * [backup-simplify]: Simplify (+ 0) into 0 24.234 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.234 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.234 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.235 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.235 * [backup-simplify]: Simplify (- 0) into 0 24.235 * [backup-simplify]: Simplify (+ 0 0) into 0 24.235 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.235 * [backup-simplify]: Simplify (+ 0) into 0 24.236 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.236 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.237 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.237 * [backup-simplify]: Simplify (- 0) into 0 24.237 * [backup-simplify]: Simplify (+ 0 0) into 0 24.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 24.238 * [backup-simplify]: Simplify (+ 0) into 0 24.238 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.238 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.239 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.239 * [backup-simplify]: Simplify (+ 0 0) into 0 24.239 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 24.240 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0 24.240 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)))) into 0 24.241 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.242 * [backup-simplify]: Simplify (+ 0) into 0 24.242 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.242 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.243 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.243 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.243 * [backup-simplify]: Simplify (- 0) into 0 24.244 * [backup-simplify]: Simplify (+ 0 0) into 0 24.244 * [backup-simplify]: Simplify (+ 0) into 0 24.244 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 24.244 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 24.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.245 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 24.246 * [backup-simplify]: Simplify (+ 0 0) into 0 24.246 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.246 * [backup-simplify]: Simplify (+ 0) into 0 24.246 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.247 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.247 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.247 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.248 * [backup-simplify]: Simplify (+ 0 0) into 0 24.248 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 24.248 * [backup-simplify]: Simplify (+ 0) into 0 24.248 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.248 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.249 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.249 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.250 * [backup-simplify]: Simplify (- 0) into 0 24.250 * [backup-simplify]: Simplify (+ 0 0) into 0 24.250 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 24.251 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 1) (* 0 0))) into 0 24.251 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R) (/ 0 R)))) into 0 24.252 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 24.253 * [backup-simplify]: Simplify (+ 0 0) into 0 24.253 * [backup-simplify]: Simplify (- 0) into 0 24.253 * [backup-simplify]: Simplify (+ 0 0) into 0 24.253 * [taylor]: Taking taylor expansion of 0 in phi2 24.253 * [backup-simplify]: Simplify 0 into 0 24.253 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0 24.255 * [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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 0) (* 0 (/ 1 R))) into 0 24.256 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 1 R)))) into 0 24.256 * [taylor]: Taking taylor expansion of 0 in phi2 24.256 * [backup-simplify]: Simplify 0 into 0 24.257 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)) 24.259 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) 24.262 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))) into (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) 24.263 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R)) into (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) 24.264 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R)) into (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) 24.267 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) 24.270 * [backup-simplify]: Simplify (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R)))) 24.276 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))))) 24.277 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))))) in phi1 24.277 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))) in phi1 24.277 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)) in phi1 24.277 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) in phi1 24.277 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) in phi1 24.277 * [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)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) in phi1 24.277 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 24.277 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.277 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.277 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.277 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.277 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.277 * [backup-simplify]: Simplify -0.5 into -0.5 24.277 * [taylor]: Taking taylor expansion of phi2 in phi1 24.277 * [backup-simplify]: Simplify phi2 into phi2 24.277 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.277 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.277 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.277 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.277 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.278 * [backup-simplify]: Simplify (- 0) into 0 24.278 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.278 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.278 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.278 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.278 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.278 * [backup-simplify]: Simplify -0.5 into -0.5 24.278 * [taylor]: Taking taylor expansion of phi1 in phi1 24.278 * [backup-simplify]: Simplify 0 into 0 24.278 * [backup-simplify]: Simplify 1 into 1 24.278 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.279 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.279 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.279 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.279 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.279 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.279 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.279 * [backup-simplify]: Simplify -0.5 into -0.5 24.279 * [taylor]: Taking taylor expansion of phi2 in phi1 24.279 * [backup-simplify]: Simplify phi2 into phi2 24.279 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.279 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.279 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.279 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.279 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.279 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.279 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.279 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.279 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.279 * [backup-simplify]: Simplify -0.5 into -0.5 24.279 * [taylor]: Taking taylor expansion of phi1 in phi1 24.279 * [backup-simplify]: Simplify 0 into 0 24.279 * [backup-simplify]: Simplify 1 into 1 24.280 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 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)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) in phi1 24.280 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi1 24.280 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.280 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.280 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.280 * [backup-simplify]: Simplify -0.5 into -0.5 24.280 * [taylor]: Taking taylor expansion of phi1 in phi1 24.280 * [backup-simplify]: Simplify 0 into 0 24.280 * [backup-simplify]: Simplify 1 into 1 24.280 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.280 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.280 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi1 24.280 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.280 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.280 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.280 * [backup-simplify]: Simplify -0.5 into -0.5 24.280 * [taylor]: Taking taylor expansion of phi1 in phi1 24.280 * [backup-simplify]: Simplify 0 into 0 24.280 * [backup-simplify]: Simplify 1 into 1 24.281 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.281 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.281 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi1 24.281 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.281 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.281 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.281 * [backup-simplify]: Simplify -0.5 into -0.5 24.281 * [taylor]: Taking taylor expansion of phi2 in phi1 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 (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.281 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.281 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.281 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.281 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.281 * [backup-simplify]: Simplify -0.5 into -0.5 24.281 * [taylor]: Taking taylor expansion of phi2 in phi1 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 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in phi1 24.281 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.281 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.281 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.281 * [backup-simplify]: Simplify -0.5 into -0.5 24.281 * [taylor]: Taking taylor expansion of phi1 in phi1 24.281 * [backup-simplify]: Simplify 0 into 0 24.281 * [backup-simplify]: Simplify 1 into 1 24.282 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.282 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.282 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in phi1 24.282 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.282 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.282 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.282 * [backup-simplify]: Simplify -0.5 into -0.5 24.282 * [taylor]: Taking taylor expansion of phi1 in phi1 24.282 * [backup-simplify]: Simplify 0 into 0 24.282 * [backup-simplify]: Simplify 1 into 1 24.282 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.282 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.282 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in phi1 24.282 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.282 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.282 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.282 * [backup-simplify]: Simplify -0.5 into -0.5 24.282 * [taylor]: Taking taylor expansion of phi2 in phi1 24.282 * [backup-simplify]: Simplify phi2 into phi2 24.283 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.283 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.283 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.283 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.283 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.283 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.283 * [backup-simplify]: Simplify -0.5 into -0.5 24.283 * [taylor]: Taking taylor expansion of phi2 in phi1 24.283 * [backup-simplify]: Simplify phi2 into phi2 24.283 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.283 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.283 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.283 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.283 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.283 * [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)) 24.283 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.284 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.284 * [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)) 24.284 * [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))) 24.284 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.284 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.289 * [backup-simplify]: Simplify (- 0) into 0 24.289 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.289 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.290 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.290 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.290 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 24.290 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 24.290 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 24.291 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.291 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.291 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.291 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.291 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.292 * [backup-simplify]: Simplify (- 0) into 0 24.292 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.292 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 24.292 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 24.293 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 24.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 24.294 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 24.296 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 24.298 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) 24.300 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) 24.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.301 * [backup-simplify]: Simplify (+ 0) into 0 24.302 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.302 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.303 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.303 * [backup-simplify]: Simplify (- 0) into 0 24.304 * [backup-simplify]: Simplify (+ 0 0) into 0 24.304 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.305 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.305 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.305 * [backup-simplify]: Simplify (+ 0) into 0 24.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.306 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.307 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.307 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.308 * [backup-simplify]: Simplify (+ 0 0) into 0 24.308 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.308 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.309 * [backup-simplify]: Simplify (+ 0 0) into 0 24.309 * [backup-simplify]: Simplify (+ 0) into 0 24.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.310 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.311 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.311 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.312 * [backup-simplify]: Simplify (+ 0 0) into 0 24.312 * [backup-simplify]: Simplify (+ 0) into 0 24.313 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.313 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.314 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.314 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.315 * [backup-simplify]: Simplify (- 0) into 0 24.315 * [backup-simplify]: Simplify (+ 0 0) into 0 24.315 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.316 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into 0 24.316 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 24.316 * [backup-simplify]: Simplify (+ 0) into 0 24.317 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.317 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.319 * [backup-simplify]: Simplify (- 0) into 0 24.319 * [backup-simplify]: Simplify (+ 0 0) into 0 24.320 * [backup-simplify]: Simplify (+ 0) into 0 24.320 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.321 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.322 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.322 * [backup-simplify]: Simplify (+ 0 0) into 0 24.323 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.323 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into 0 24.323 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 24.324 * [backup-simplify]: Simplify (+ 0 0) into 0 24.324 * [backup-simplify]: Simplify (- 0) into 0 24.324 * [backup-simplify]: Simplify (+ 0 0) into 0 24.327 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 24.328 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 24.328 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) in phi1 24.328 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.328 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.328 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.328 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.328 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.328 * [backup-simplify]: Simplify -0.5 into -0.5 24.328 * [taylor]: Taking taylor expansion of phi2 in phi1 24.328 * [backup-simplify]: Simplify phi2 into phi2 24.328 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.328 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.328 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.329 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.329 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.329 * [backup-simplify]: Simplify (- 0) into 0 24.329 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.329 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.329 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.329 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.330 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.330 * [backup-simplify]: Simplify -0.5 into -0.5 24.330 * [taylor]: Taking taylor expansion of phi1 in phi1 24.330 * [backup-simplify]: Simplify 0 into 0 24.330 * [backup-simplify]: Simplify 1 into 1 24.330 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.330 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.330 * [taylor]: Taking taylor expansion of R in phi1 24.330 * [backup-simplify]: Simplify R into R 24.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.331 * [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)) 24.331 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 24.331 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) in phi1 24.331 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) in phi1 24.331 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) in phi1 24.331 * [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)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) in phi1 24.331 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 24.331 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.331 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.331 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.331 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.331 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.331 * [backup-simplify]: Simplify -0.5 into -0.5 24.331 * [taylor]: Taking taylor expansion of phi2 in phi1 24.331 * [backup-simplify]: Simplify phi2 into phi2 24.331 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.331 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.331 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.331 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.332 * [backup-simplify]: Simplify (- 0) into 0 24.332 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.332 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.332 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.332 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.332 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.332 * [backup-simplify]: Simplify -0.5 into -0.5 24.332 * [taylor]: Taking taylor expansion of phi1 in phi1 24.332 * [backup-simplify]: Simplify 0 into 0 24.332 * [backup-simplify]: Simplify 1 into 1 24.332 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.332 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.333 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.333 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.333 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.333 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.333 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.333 * [backup-simplify]: Simplify -0.5 into -0.5 24.333 * [taylor]: Taking taylor expansion of phi2 in phi1 24.333 * [backup-simplify]: Simplify phi2 into phi2 24.333 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.333 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.333 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.333 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.333 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.333 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.333 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.333 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.333 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.333 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.333 * [backup-simplify]: Simplify -0.5 into -0.5 24.333 * [taylor]: Taking taylor expansion of phi1 in phi1 24.333 * [backup-simplify]: Simplify 0 into 0 24.333 * [backup-simplify]: Simplify 1 into 1 24.333 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.334 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.334 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) in phi1 24.334 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi1 24.334 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.334 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.334 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.334 * [backup-simplify]: Simplify -0.5 into -0.5 24.334 * [taylor]: Taking taylor expansion of phi1 in phi1 24.334 * [backup-simplify]: Simplify 0 into 0 24.334 * [backup-simplify]: Simplify 1 into 1 24.334 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.334 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.334 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi1 24.334 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.334 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.334 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.334 * [backup-simplify]: Simplify -0.5 into -0.5 24.334 * [taylor]: Taking taylor expansion of phi1 in phi1 24.334 * [backup-simplify]: Simplify 0 into 0 24.334 * [backup-simplify]: Simplify 1 into 1 24.335 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.335 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.335 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi1 24.335 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.335 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.335 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.335 * [backup-simplify]: Simplify -0.5 into -0.5 24.335 * [taylor]: Taking taylor expansion of phi2 in phi1 24.335 * [backup-simplify]: Simplify phi2 into phi2 24.335 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.335 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.335 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.335 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.335 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.335 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.335 * [backup-simplify]: Simplify -0.5 into -0.5 24.335 * [taylor]: Taking taylor expansion of phi2 in phi1 24.335 * [backup-simplify]: Simplify phi2 into phi2 24.335 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.335 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.335 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.335 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in phi1 24.335 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.335 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.335 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.335 * [backup-simplify]: Simplify -0.5 into -0.5 24.335 * [taylor]: Taking taylor expansion of phi1 in phi1 24.335 * [backup-simplify]: Simplify 0 into 0 24.335 * [backup-simplify]: Simplify 1 into 1 24.336 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.336 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.336 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in phi1 24.336 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.336 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.336 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.336 * [backup-simplify]: Simplify -0.5 into -0.5 24.336 * [taylor]: Taking taylor expansion of phi1 in phi1 24.336 * [backup-simplify]: Simplify 0 into 0 24.336 * [backup-simplify]: Simplify 1 into 1 24.336 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.336 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.336 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in phi1 24.336 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.336 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.336 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.336 * [backup-simplify]: Simplify -0.5 into -0.5 24.336 * [taylor]: Taking taylor expansion of phi2 in phi1 24.336 * [backup-simplify]: Simplify phi2 into phi2 24.336 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.336 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.337 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.337 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.337 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.337 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.337 * [backup-simplify]: Simplify -0.5 into -0.5 24.337 * [taylor]: Taking taylor expansion of phi2 in phi1 24.337 * [backup-simplify]: Simplify phi2 into phi2 24.337 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.337 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.337 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.337 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.337 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.337 * [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)) 24.337 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.337 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.338 * [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)) 24.338 * [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))) 24.338 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.338 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.339 * [backup-simplify]: Simplify (- 0) into 0 24.339 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.339 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.339 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.339 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.339 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 24.339 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 24.339 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 24.339 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.339 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.339 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.340 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.340 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.340 * [backup-simplify]: Simplify (- 0) into 0 24.340 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.340 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 24.340 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 24.340 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 24.341 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 24.341 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 24.342 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 24.343 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) 24.345 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) 24.345 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.345 * [backup-simplify]: Simplify (+ 0) into 0 24.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.346 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.346 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.347 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.347 * [backup-simplify]: Simplify (- 0) into 0 24.347 * [backup-simplify]: Simplify (+ 0 0) into 0 24.347 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.347 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.348 * [backup-simplify]: Simplify (+ 0) into 0 24.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.348 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.349 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.349 * [backup-simplify]: Simplify (+ 0 0) into 0 24.349 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.350 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.350 * [backup-simplify]: Simplify (+ 0 0) into 0 24.350 * [backup-simplify]: Simplify (+ 0) into 0 24.351 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.351 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.351 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.352 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.352 * [backup-simplify]: Simplify (+ 0 0) into 0 24.352 * [backup-simplify]: Simplify (+ 0) into 0 24.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.353 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.355 * [backup-simplify]: Simplify (- 0) into 0 24.355 * [backup-simplify]: Simplify (+ 0 0) into 0 24.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into 0 24.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 24.356 * [backup-simplify]: Simplify (+ 0) into 0 24.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.357 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.358 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.359 * [backup-simplify]: Simplify (- 0) into 0 24.359 * [backup-simplify]: Simplify (+ 0 0) into 0 24.359 * [backup-simplify]: Simplify (+ 0) into 0 24.360 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.360 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.361 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.361 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.362 * [backup-simplify]: Simplify (+ 0 0) into 0 24.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into 0 24.363 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 24.363 * [backup-simplify]: Simplify (+ 0 0) into 0 24.363 * [backup-simplify]: Simplify (- 0) into 0 24.364 * [backup-simplify]: Simplify (+ 0 0) into 0 24.368 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 24.370 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 24.370 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) in phi1 24.370 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.370 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.370 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.370 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.370 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.370 * [backup-simplify]: Simplify -0.5 into -0.5 24.370 * [taylor]: Taking taylor expansion of phi2 in phi1 24.370 * [backup-simplify]: Simplify phi2 into phi2 24.370 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.370 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.370 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.370 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.371 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.371 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.371 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.371 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.371 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.371 * [backup-simplify]: Simplify -0.5 into -0.5 24.371 * [taylor]: Taking taylor expansion of phi1 in phi1 24.371 * [backup-simplify]: Simplify 0 into 0 24.371 * [backup-simplify]: Simplify 1 into 1 24.371 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.372 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.372 * [taylor]: Taking taylor expansion of R in phi1 24.372 * [backup-simplify]: Simplify R into R 24.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.372 * [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)) 24.373 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 24.373 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) in phi1 24.373 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) in phi1 24.373 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) in phi1 24.373 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi1 24.373 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.373 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.373 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.373 * [backup-simplify]: Simplify -0.5 into -0.5 24.373 * [taylor]: Taking taylor expansion of phi1 in phi1 24.373 * [backup-simplify]: Simplify 0 into 0 24.373 * [backup-simplify]: Simplify 1 into 1 24.373 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.374 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.374 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi1 24.374 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.374 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.374 * [backup-simplify]: Simplify -0.5 into -0.5 24.374 * [taylor]: Taking taylor expansion of phi1 in phi1 24.374 * [backup-simplify]: Simplify 0 into 0 24.374 * [backup-simplify]: Simplify 1 into 1 24.374 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.374 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.374 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi1 24.374 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.374 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.374 * [backup-simplify]: Simplify -0.5 into -0.5 24.374 * [taylor]: Taking taylor expansion of phi2 in phi1 24.375 * [backup-simplify]: Simplify phi2 into phi2 24.375 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.375 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.375 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.375 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.375 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.375 * [backup-simplify]: Simplify -0.5 into -0.5 24.375 * [taylor]: Taking taylor expansion of phi2 in phi1 24.375 * [backup-simplify]: Simplify phi2 into phi2 24.375 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.375 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.375 * [taylor]: Taking taylor expansion of R in phi1 24.375 * [backup-simplify]: Simplify R into R 24.375 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.375 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.376 * [backup-simplify]: Simplify (- 0) into 0 24.376 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 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)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 24.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 24.377 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 24.377 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) 24.377 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in phi1 24.377 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in phi1 24.377 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in phi1 24.377 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 24.377 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.377 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.378 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.378 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.378 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.378 * [backup-simplify]: Simplify -0.5 into -0.5 24.378 * [taylor]: Taking taylor expansion of phi2 in phi1 24.378 * [backup-simplify]: Simplify phi2 into phi2 24.378 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.378 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.378 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.379 * [backup-simplify]: Simplify (- 0) into 0 24.379 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.379 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.379 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.379 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.379 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.379 * [backup-simplify]: Simplify -0.5 into -0.5 24.379 * [taylor]: Taking taylor expansion of phi1 in phi1 24.379 * [backup-simplify]: Simplify 0 into 0 24.379 * [backup-simplify]: Simplify 1 into 1 24.380 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.380 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.380 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.380 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.380 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.380 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.380 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.380 * [backup-simplify]: Simplify -0.5 into -0.5 24.380 * [taylor]: Taking taylor expansion of phi2 in phi1 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 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.381 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.381 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.381 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.381 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.381 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.381 * [backup-simplify]: Simplify -0.5 into -0.5 24.381 * [taylor]: Taking taylor expansion of phi1 in phi1 24.381 * [backup-simplify]: Simplify 0 into 0 24.381 * [backup-simplify]: Simplify 1 into 1 24.382 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.382 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.382 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in phi1 24.382 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 24.382 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.382 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.382 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.382 * [backup-simplify]: Simplify -0.5 into -0.5 24.382 * [taylor]: Taking taylor expansion of phi2 in phi1 24.382 * [backup-simplify]: Simplify phi2 into phi2 24.382 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.382 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.382 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.382 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 24.382 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.382 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.382 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.382 * [backup-simplify]: Simplify -0.5 into -0.5 24.382 * [taylor]: Taking taylor expansion of phi1 in phi1 24.382 * [backup-simplify]: Simplify 0 into 0 24.382 * [backup-simplify]: Simplify 1 into 1 24.383 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.383 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.383 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 24.383 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.383 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.383 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.383 * [backup-simplify]: Simplify -0.5 into -0.5 24.383 * [taylor]: Taking taylor expansion of phi1 in phi1 24.383 * [backup-simplify]: Simplify 0 into 0 24.383 * [backup-simplify]: Simplify 1 into 1 24.384 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.384 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.384 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.384 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.384 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.384 * [backup-simplify]: Simplify -0.5 into -0.5 24.384 * [taylor]: Taking taylor expansion of phi2 in phi1 24.384 * [backup-simplify]: Simplify phi2 into phi2 24.384 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.384 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.384 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.384 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 24.384 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.384 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.384 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.384 * [backup-simplify]: Simplify -0.5 into -0.5 24.384 * [taylor]: Taking taylor expansion of phi2 in phi1 24.384 * [backup-simplify]: Simplify phi2 into phi2 24.384 * [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 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 24.385 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.385 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.385 * [backup-simplify]: Simplify -0.5 into -0.5 24.385 * [taylor]: Taking taylor expansion of phi1 in phi1 24.385 * [backup-simplify]: Simplify 0 into 0 24.385 * [backup-simplify]: Simplify 1 into 1 24.385 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.385 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.385 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 24.385 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.385 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.385 * [backup-simplify]: Simplify -0.5 into -0.5 24.386 * [taylor]: Taking taylor expansion of phi1 in phi1 24.386 * [backup-simplify]: Simplify 0 into 0 24.386 * [backup-simplify]: Simplify 1 into 1 24.386 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.386 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.386 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.386 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.386 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.386 * [backup-simplify]: Simplify -0.5 into -0.5 24.386 * [taylor]: Taking taylor expansion of phi2 in phi1 24.386 * [backup-simplify]: Simplify phi2 into phi2 24.386 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.386 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.387 * [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)) 24.387 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.388 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.388 * [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)) 24.389 * [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 (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.389 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.389 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.390 * [backup-simplify]: Simplify (- 0) into 0 24.390 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.390 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 24.390 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 24.390 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 24.390 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.391 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.391 * [backup-simplify]: Simplify (- 0) into 0 24.391 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.391 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.391 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.391 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.392 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 24.392 * [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)))) 24.392 * [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))))) 24.393 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 24.394 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 24.395 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 24.397 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) 24.399 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 24.399 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.400 * [backup-simplify]: Simplify (+ 0) into 0 24.401 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.401 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.402 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.403 * [backup-simplify]: Simplify (- 0) into 0 24.403 * [backup-simplify]: Simplify (+ 0 0) into 0 24.403 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.404 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.404 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.404 * [backup-simplify]: Simplify (+ 0) into 0 24.405 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.405 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.406 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.407 * [backup-simplify]: Simplify (+ 0 0) into 0 24.407 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.407 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.408 * [backup-simplify]: Simplify (+ 0 0) into 0 24.408 * [backup-simplify]: Simplify (+ 0) into 0 24.409 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.409 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.410 * [backup-simplify]: Simplify (- 0) into 0 24.411 * [backup-simplify]: Simplify (+ 0 0) into 0 24.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.411 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 24.412 * [backup-simplify]: Simplify (+ 0) into 0 24.412 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.412 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.414 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.414 * [backup-simplify]: Simplify (+ 0 0) into 0 24.414 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 24.415 * [backup-simplify]: Simplify (+ 0) into 0 24.415 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.415 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.417 * [backup-simplify]: Simplify (+ 0 0) into 0 24.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.417 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 24.417 * [backup-simplify]: Simplify (+ 0) into 0 24.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.418 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.419 * [backup-simplify]: Simplify (- 0) into 0 24.419 * [backup-simplify]: Simplify (+ 0 0) into 0 24.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 24.419 * [backup-simplify]: Simplify (+ 0 0) into 0 24.420 * [backup-simplify]: Simplify (- 0) into 0 24.420 * [backup-simplify]: Simplify (+ 0 0) into 0 24.422 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0 24.423 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0 24.423 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) in phi1 24.423 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) in phi1 24.423 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in phi1 24.423 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.423 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.423 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.423 * [backup-simplify]: Simplify -0.5 into -0.5 24.423 * [taylor]: Taking taylor expansion of phi1 in phi1 24.423 * [backup-simplify]: Simplify 0 into 0 24.423 * [backup-simplify]: Simplify 1 into 1 24.424 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.424 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.424 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in phi1 24.424 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.424 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.424 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.424 * [backup-simplify]: Simplify -0.5 into -0.5 24.424 * [taylor]: Taking taylor expansion of phi1 in phi1 24.424 * [backup-simplify]: Simplify 0 into 0 24.424 * [backup-simplify]: Simplify 1 into 1 24.424 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.424 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.424 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in phi1 24.424 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.424 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.424 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.424 * [backup-simplify]: Simplify -0.5 into -0.5 24.424 * [taylor]: Taking taylor expansion of phi2 in phi1 24.424 * [backup-simplify]: Simplify phi2 into phi2 24.424 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.425 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.425 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.425 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.425 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.425 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.425 * [backup-simplify]: Simplify -0.5 into -0.5 24.425 * [taylor]: Taking taylor expansion of phi2 in phi1 24.425 * [backup-simplify]: Simplify phi2 into phi2 24.425 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.425 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.425 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.425 * [taylor]: Taking taylor expansion of R in phi1 24.425 * [backup-simplify]: Simplify R into R 24.425 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.425 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.425 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.425 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.425 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.425 * [backup-simplify]: Simplify (- 0) into 0 24.425 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 24.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 24.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 24.426 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) R) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) 24.426 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in phi1 24.426 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in phi1 24.426 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in phi1 24.426 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 24.426 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.426 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.426 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.426 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.426 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.426 * [backup-simplify]: Simplify -0.5 into -0.5 24.426 * [taylor]: Taking taylor expansion of phi2 in phi1 24.426 * [backup-simplify]: Simplify phi2 into phi2 24.426 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.426 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.427 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.427 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.427 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.427 * [backup-simplify]: Simplify (- 0) into 0 24.427 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.427 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.427 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.427 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.427 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.427 * [backup-simplify]: Simplify -0.5 into -0.5 24.427 * [taylor]: Taking taylor expansion of phi1 in phi1 24.427 * [backup-simplify]: Simplify 0 into 0 24.427 * [backup-simplify]: Simplify 1 into 1 24.427 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.427 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.428 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.428 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.428 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.428 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.428 * [backup-simplify]: Simplify -0.5 into -0.5 24.428 * [taylor]: Taking taylor expansion of phi2 in phi1 24.428 * [backup-simplify]: Simplify phi2 into phi2 24.428 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.428 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.428 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.428 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.428 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.428 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.428 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.428 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.428 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.428 * [backup-simplify]: Simplify -0.5 into -0.5 24.428 * [taylor]: Taking taylor expansion of phi1 in phi1 24.428 * [backup-simplify]: Simplify 0 into 0 24.428 * [backup-simplify]: Simplify 1 into 1 24.428 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.428 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.429 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in phi1 24.429 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 24.429 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.429 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.429 * [backup-simplify]: Simplify -0.5 into -0.5 24.429 * [taylor]: Taking taylor expansion of phi2 in phi1 24.429 * [backup-simplify]: Simplify phi2 into phi2 24.429 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.429 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.429 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 24.429 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.429 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.429 * [backup-simplify]: Simplify -0.5 into -0.5 24.429 * [taylor]: Taking taylor expansion of phi1 in phi1 24.429 * [backup-simplify]: Simplify 0 into 0 24.429 * [backup-simplify]: Simplify 1 into 1 24.429 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.430 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 24.430 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.430 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.430 * [backup-simplify]: Simplify -0.5 into -0.5 24.430 * [taylor]: Taking taylor expansion of phi1 in phi1 24.430 * [backup-simplify]: Simplify 0 into 0 24.430 * [backup-simplify]: Simplify 1 into 1 24.430 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.430 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.430 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.430 * [backup-simplify]: Simplify -0.5 into -0.5 24.430 * [taylor]: Taking taylor expansion of phi2 in phi1 24.430 * [backup-simplify]: Simplify phi2 into phi2 24.430 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.430 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 24.430 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.430 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.430 * [backup-simplify]: Simplify -0.5 into -0.5 24.430 * [taylor]: Taking taylor expansion of phi2 in phi1 24.430 * [backup-simplify]: Simplify phi2 into phi2 24.430 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.431 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 24.431 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.431 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.431 * [backup-simplify]: Simplify -0.5 into -0.5 24.431 * [taylor]: Taking taylor expansion of phi1 in phi1 24.431 * [backup-simplify]: Simplify 0 into 0 24.431 * [backup-simplify]: Simplify 1 into 1 24.431 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.431 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 24.431 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.431 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.431 * [backup-simplify]: Simplify -0.5 into -0.5 24.431 * [taylor]: Taking taylor expansion of phi1 in phi1 24.431 * [backup-simplify]: Simplify 0 into 0 24.431 * [backup-simplify]: Simplify 1 into 1 24.431 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.432 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.432 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.432 * [backup-simplify]: Simplify -0.5 into -0.5 24.432 * [taylor]: Taking taylor expansion of phi2 in phi1 24.432 * [backup-simplify]: Simplify phi2 into phi2 24.432 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.432 * [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)) 24.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.433 * [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)) 24.433 * [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))) 24.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.433 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.434 * [backup-simplify]: Simplify (- 0) into 0 24.434 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 24.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 24.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 24.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.435 * [backup-simplify]: Simplify (- 0) into 0 24.435 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.435 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 24.435 * [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)))) 24.435 * [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))))) 24.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 24.436 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 24.437 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 24.439 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) 24.440 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 24.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.445 * [backup-simplify]: Simplify (+ 0) into 0 24.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.447 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.448 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.448 * [backup-simplify]: Simplify (- 0) into 0 24.449 * [backup-simplify]: Simplify (+ 0 0) into 0 24.449 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.449 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.450 * [backup-simplify]: Simplify (+ 0) into 0 24.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.451 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.453 * [backup-simplify]: Simplify (+ 0 0) into 0 24.453 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.453 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.454 * [backup-simplify]: Simplify (+ 0 0) into 0 24.454 * [backup-simplify]: Simplify (+ 0) into 0 24.454 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.455 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.455 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.456 * [backup-simplify]: Simplify (- 0) into 0 24.457 * [backup-simplify]: Simplify (+ 0 0) into 0 24.457 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.457 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 24.458 * [backup-simplify]: Simplify (+ 0) into 0 24.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.458 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.459 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.459 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.460 * [backup-simplify]: Simplify (+ 0 0) into 0 24.460 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 24.461 * [backup-simplify]: Simplify (+ 0) into 0 24.461 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.461 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.462 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.463 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.463 * [backup-simplify]: Simplify (+ 0 0) into 0 24.463 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.463 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 24.464 * [backup-simplify]: Simplify (+ 0) into 0 24.464 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.464 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.466 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.466 * [backup-simplify]: Simplify (- 0) into 0 24.466 * [backup-simplify]: Simplify (+ 0 0) into 0 24.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 24.467 * [backup-simplify]: Simplify (+ 0 0) into 0 24.467 * [backup-simplify]: Simplify (- 0) into 0 24.468 * [backup-simplify]: Simplify (+ 0 0) into 0 24.472 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0 24.474 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0 24.476 * [backup-simplify]: Simplify (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 1 R)) into (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 1 R)) 24.478 * [backup-simplify]: Simplify (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 1 R))) into (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 1 R))) 24.478 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 1 R))) in phi1 24.478 * [taylor]: Taking taylor expansion of -1 in phi1 24.478 * [backup-simplify]: Simplify -1 into -1 24.478 * [taylor]: Taking taylor expansion of (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 1 R)) in phi1 24.478 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) in phi1 24.478 * [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)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) in phi1 24.479 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 24.479 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 24.479 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 24.479 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.479 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.479 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.479 * [backup-simplify]: Simplify -0.5 into -0.5 24.479 * [taylor]: Taking taylor expansion of phi2 in phi1 24.479 * [backup-simplify]: Simplify phi2 into phi2 24.479 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.479 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.479 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.479 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.480 * [backup-simplify]: Simplify (- 0) into 0 24.480 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.481 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 24.481 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.481 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.481 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.481 * [backup-simplify]: Simplify -0.5 into -0.5 24.481 * [taylor]: Taking taylor expansion of phi1 in phi1 24.481 * [backup-simplify]: Simplify 0 into 0 24.481 * [backup-simplify]: Simplify 1 into 1 24.481 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.481 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.481 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 24.481 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 24.481 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.482 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.482 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.482 * [backup-simplify]: Simplify -0.5 into -0.5 24.482 * [taylor]: Taking taylor expansion of phi2 in phi1 24.482 * [backup-simplify]: Simplify phi2 into phi2 24.482 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.482 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.482 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.482 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.482 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.482 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.482 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 24.482 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.482 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.482 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.482 * [backup-simplify]: Simplify -0.5 into -0.5 24.482 * [taylor]: Taking taylor expansion of phi1 in phi1 24.482 * [backup-simplify]: Simplify 0 into 0 24.482 * [backup-simplify]: Simplify 1 into 1 24.483 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.483 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.483 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) in phi1 24.483 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi1 24.483 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.483 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.483 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.483 * [backup-simplify]: Simplify -0.5 into -0.5 24.483 * [taylor]: Taking taylor expansion of phi1 in phi1 24.483 * [backup-simplify]: Simplify 0 into 0 24.483 * [backup-simplify]: Simplify 1 into 1 24.484 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.484 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.484 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi1 24.484 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.484 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.484 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.484 * [backup-simplify]: Simplify -0.5 into -0.5 24.484 * [taylor]: Taking taylor expansion of phi1 in phi1 24.484 * [backup-simplify]: Simplify 0 into 0 24.484 * [backup-simplify]: Simplify 1 into 1 24.485 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.485 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.485 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi1 24.485 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.485 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.485 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.485 * [backup-simplify]: Simplify -0.5 into -0.5 24.485 * [taylor]: Taking taylor expansion of phi2 in phi1 24.485 * [backup-simplify]: Simplify phi2 into phi2 24.485 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.485 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.485 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.485 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.485 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.485 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.485 * [backup-simplify]: Simplify -0.5 into -0.5 24.485 * [taylor]: Taking taylor expansion of phi2 in phi1 24.485 * [backup-simplify]: Simplify phi2 into phi2 24.485 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.486 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.486 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.486 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in phi1 24.486 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 24.486 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.486 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.486 * [backup-simplify]: Simplify -0.5 into -0.5 24.486 * [taylor]: Taking taylor expansion of phi1 in phi1 24.486 * [backup-simplify]: Simplify 0 into 0 24.486 * [backup-simplify]: Simplify 1 into 1 24.486 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.486 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 24.486 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in phi1 24.487 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 24.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 24.487 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.487 * [backup-simplify]: Simplify -0.5 into -0.5 24.487 * [taylor]: Taking taylor expansion of phi1 in phi1 24.487 * [backup-simplify]: Simplify 0 into 0 24.487 * [backup-simplify]: Simplify 1 into 1 24.487 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 24.487 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 24.487 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in phi1 24.487 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 24.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.487 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.487 * [backup-simplify]: Simplify -0.5 into -0.5 24.487 * [taylor]: Taking taylor expansion of phi2 in phi1 24.487 * [backup-simplify]: Simplify phi2 into phi2 24.487 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.488 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.488 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.488 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 24.488 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 24.488 * [taylor]: Taking taylor expansion of -0.5 in phi1 24.488 * [backup-simplify]: Simplify -0.5 into -0.5 24.488 * [taylor]: Taking taylor expansion of phi2 in phi1 24.488 * [backup-simplify]: Simplify phi2 into phi2 24.488 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 24.488 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 24.488 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 24.488 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 24.488 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 24.489 * [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)) 24.489 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 24.489 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 24.489 * [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)) 24.490 * [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))) 24.490 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.490 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.491 * [backup-simplify]: Simplify (- 0) into 0 24.491 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.491 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.491 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.491 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.492 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 24.492 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) 24.492 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 24.492 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 24.493 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 24.493 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 24.493 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 24.493 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 24.494 * [backup-simplify]: Simplify (- 0) into 0 24.494 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 24.494 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 24.494 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 24.494 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 24.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 24.496 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 24.498 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 24.500 * [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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) 24.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 24.501 * [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 24.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.503 * [backup-simplify]: Simplify (- 0) into 0 24.504 * [backup-simplify]: Simplify (+ 0 0) into 0 24.504 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.504 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 24.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 24.505 * [backup-simplify]: Simplify (+ 0) into 0 24.506 * [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 24.507 * [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 24.508 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.508 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 24.508 * [backup-simplify]: Simplify (+ 0 0) into 0 24.509 * [backup-simplify]: Simplify (+ 0) into 0 24.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.509 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.511 * [backup-simplify]: Simplify (+ 0 0) into 0 24.512 * [backup-simplify]: Simplify (+ 0) into 0 24.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.514 * [backup-simplify]: Simplify (- 0) into 0 24.514 * [backup-simplify]: Simplify (+ 0 0) into 0 24.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 24.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into 0 24.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 24.516 * [backup-simplify]: Simplify (+ 0) into 0 24.516 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.516 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.517 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.518 * [backup-simplify]: Simplify (- 0) into 0 24.518 * [backup-simplify]: Simplify (+ 0 0) into 0 24.519 * [backup-simplify]: Simplify (+ 0) into 0 24.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 24.520 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 24.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 24.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 24.521 * [backup-simplify]: Simplify (+ 0 0) into 0 24.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 24.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into 0 24.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 24.522 * [backup-simplify]: Simplify (+ 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 (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) into 0 24.523 * [taylor]: Taking taylor expansion of (/ 1 R) in phi1 24.523 * [taylor]: Taking taylor expansion of R in phi1 24.523 * [backup-simplify]: Simplify R into R 24.523 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 24.524 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 24.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 24.525 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 24.526 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 24.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 24.527 * [backup-simplify]: Simplify (- 0) into 0 24.527 * [backup-simplify]: Simplify (+ 0 0) into 0 24.527 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 24.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 24.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 24.529 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 24.530 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 24.530 * [backup-simplify]: Simplify (- 0) into 0 24.530 * [backup-simplify]: Simplify (+ 0 0) into 0 24.531 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0 24.531 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 24.532 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 24.532 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 24.533 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 24.533 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 24.533 * [backup-simplify]: Simplify (+ 0 0) into 0 24.534 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 24.535 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 24.535 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 24.536 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 24.536 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 24.536 * [backup-simplify]: Simplify (+ 0 0) into 0 24.537 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0 24.537 * [backup-simplify]: Simplify (- 0) into 0 24.537 * [backup-simplify]: Simplify (+ 0 0) into 0 24.538 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 24.538 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 24.538 * [backup-simplify]: Simplify (- 0) into 0 24.539 * [backup-simplify]: Simplify (+ 0 0) into 0 24.539 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into 0 24.540 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 24.541 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 24.541 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 24.542 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 24.542 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 24.543 * [backup-simplify]: Simplify (- 0) into 0 24.543 * [backup-simplify]: Simplify (+ 0 0) into 0 24.543 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 24.544 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 24.544 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 24.545 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 24.545 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 24.546 * [backup-simplify]: Simplify (- 0) into 0 24.546 * [backup-simplify]: Simplify (+ 0 0) into 0 24.546 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0 24.547 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 24.548 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 24.548 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 24.549 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 24.549 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 24.549 * [backup-simplify]: Simplify (+ 0 0) into 0 24.550 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 24.551 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 24.551 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 24.552 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 24.552 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 24.553 * [backup-simplify]: Simplify (+ 0 0) into 0 24.553 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0 24.554 * [backup-simplify]: Simplify (- 0) into 0 24.554 * [backup-simplify]: Simplify (+ 0 0) into 0 24.554 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 24.555 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 24.556 * [backup-simplify]: Simplify (- 0) into 0 24.556 * [backup-simplify]: Simplify (+ 0 0) into 0 24.557 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) 0) (+ (* 0 0) (* 0 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into 0 24.559 * [backup-simplify]: Simplify (+ (* (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) (+ (* (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2)) 0) (+ (* 0 (- (/ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) lambda2) (/ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) lambda2))) (* 0 (* -1 (- (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) into 0 24.559 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 24.560 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 24.560 * [backup-simplify]: Simplify (- 0) into 0 24.560 * [backup-simplify]: Simplify (+ 0 0) into 0 24.561 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 24.561 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 24.561 * [backup-simplify]: Simplify (- 0) into 0 24.561 * [backup-simplify]: Simplify (+ 0 0) into 0 24.562 * [backup-simplify]: Simplify (+ (* (- (/ 1 phi2) (/ 1 phi1)) 0) (* 0 (- (/ 1 phi2) (/ 1 phi1)))) into 0 24.562 * [backup-simplify]: Simplify (+ 0 0) into 0 24.649 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) lambda2)) (* 2 (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) lambda2))) (+ (* 2 (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) lambda2)) (* 2 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) lambda2)))))) (* 1/2 (* (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (cos (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ 1 (pow phi2 2)) (+ (* 3 (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi1)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2)))) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (* 3 (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 2))))))))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 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phi1)))))))))))) (/ 0 R)) (* (- (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi1))))) (* R (pow lambda2 2))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 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(* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))))))))))))))) in lambda2 25.822 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 7/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))))))))))))))))) in lambda2 25.823 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 25.823 * [taylor]: Taking taylor expansion of 1/2 in lambda2 25.824 * [backup-simplify]: Simplify 1/2 into 1/2 25.824 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 25.824 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 25.824 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) in lambda2 25.824 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2 25.824 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.824 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.824 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.824 * [backup-simplify]: Simplify -0.5 into -0.5 25.824 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.824 * [backup-simplify]: Simplify phi2 into phi2 25.824 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.824 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.824 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.824 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.824 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.825 * [backup-simplify]: Simplify (- 0) into 0 25.825 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.825 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3))) in lambda2 25.825 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.825 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.825 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.826 * [backup-simplify]: Simplify -0.5 into -0.5 25.826 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.826 * [backup-simplify]: Simplify phi1 into phi1 25.826 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.826 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.826 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.826 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)) in lambda2 25.826 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.826 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.826 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.826 * [backup-simplify]: Simplify -0.5 into -0.5 25.826 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.826 * [backup-simplify]: Simplify phi2 into phi2 25.826 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.826 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.826 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.826 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2 25.826 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.826 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.826 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.826 * [backup-simplify]: Simplify -0.5 into -0.5 25.826 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.826 * [backup-simplify]: Simplify phi1 into phi1 25.827 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.827 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.827 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.827 * [backup-simplify]: Simplify (- 0) into 0 25.827 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.827 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 25.828 * [taylor]: Taking taylor expansion of R in lambda2 25.828 * [backup-simplify]: Simplify R into R 25.828 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 25.828 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 25.828 * [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 25.828 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 25.828 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 25.828 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.828 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.828 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.828 * [backup-simplify]: Simplify -0.5 into -0.5 25.828 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.828 * [backup-simplify]: Simplify phi2 into phi2 25.828 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.828 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.828 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.828 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.828 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.829 * [backup-simplify]: Simplify (- 0) into 0 25.829 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.829 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 25.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.829 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.829 * [backup-simplify]: Simplify -0.5 into -0.5 25.829 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.829 * [backup-simplify]: Simplify phi1 into phi1 25.829 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.830 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.830 * [backup-simplify]: Simplify (- 0) into 0 25.830 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.830 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 25.830 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 25.830 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.830 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.830 * [backup-simplify]: Simplify -0.5 into -0.5 25.831 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.831 * [backup-simplify]: Simplify phi2 into phi2 25.831 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.831 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.831 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 25.831 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.831 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.831 * [backup-simplify]: Simplify -0.5 into -0.5 25.831 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.831 * [backup-simplify]: Simplify phi1 into phi1 25.831 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.832 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.832 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 25.832 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 25.832 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.832 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.832 * [backup-simplify]: Simplify -0.5 into -0.5 25.832 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.832 * [backup-simplify]: Simplify phi2 into phi2 25.832 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.832 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 25.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.833 * [backup-simplify]: Simplify -0.5 into -0.5 25.833 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.833 * [backup-simplify]: Simplify phi2 into phi2 25.833 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.833 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 25.833 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.833 * [backup-simplify]: Simplify -0.5 into -0.5 25.833 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.833 * [backup-simplify]: Simplify phi1 into phi1 25.833 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.833 * [backup-simplify]: Simplify -0.5 into -0.5 25.833 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.834 * [backup-simplify]: Simplify phi1 into phi1 25.834 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.834 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 25.834 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.834 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.834 * [backup-simplify]: Simplify -0.5 into -0.5 25.834 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.834 * [backup-simplify]: Simplify phi2 into phi2 25.834 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.834 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 25.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.834 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.834 * [backup-simplify]: Simplify -0.5 into -0.5 25.834 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.834 * [backup-simplify]: Simplify phi2 into phi2 25.834 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.835 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 25.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.835 * [backup-simplify]: Simplify -0.5 into -0.5 25.835 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.835 * [backup-simplify]: Simplify phi1 into phi1 25.835 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.835 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.835 * [backup-simplify]: Simplify -0.5 into -0.5 25.835 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.835 * [backup-simplify]: Simplify phi1 into phi1 25.835 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.836 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 25.836 * [taylor]: Taking taylor expansion of lambda2 in lambda2 25.836 * [backup-simplify]: Simplify 0 into 0 25.836 * [backup-simplify]: Simplify 1 into 1 25.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 25.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 25.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.836 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.837 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 25.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 25.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)) into (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)) 25.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3))) into (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) 25.839 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) 25.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 25.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 25.839 * [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)) 25.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 25.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 25.840 * [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)) 25.841 * [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))) 25.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.842 * [backup-simplify]: Simplify (- 0) into 0 25.842 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.842 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.843 * [backup-simplify]: Simplify (- 0) into 0 25.843 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.843 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 25.844 * [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)))) 25.844 * [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))))) 25.844 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.844 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.844 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.844 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.844 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.844 * [backup-simplify]: Simplify (- 0) into 0 25.845 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.845 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.845 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.845 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.845 * [backup-simplify]: Simplify (- 0) into 0 25.845 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 25.845 * [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)))) 25.846 * [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))))) 25.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 25.846 * [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))))))) 25.848 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (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))))))) 25.848 * [backup-simplify]: Simplify (* 1 1) into 1 25.848 * [backup-simplify]: Simplify (* 1 1) into 1 25.849 * [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))))))) 1) 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))))))) 25.850 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 25.852 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (- (+ (* (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))))))) R)) into (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 25.852 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 25.852 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 25.852 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 25.852 * [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 25.852 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 25.852 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 25.852 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.852 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.852 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.852 * [backup-simplify]: Simplify -0.5 into -0.5 25.852 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.852 * [backup-simplify]: Simplify phi2 into phi2 25.852 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.852 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.852 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.852 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.852 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.853 * [backup-simplify]: Simplify (- 0) into 0 25.853 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.853 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 25.853 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.853 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.853 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.853 * [backup-simplify]: Simplify -0.5 into -0.5 25.853 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.853 * [backup-simplify]: Simplify phi1 into phi1 25.853 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.853 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.853 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.853 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.853 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.854 * [backup-simplify]: Simplify (- 0) into 0 25.854 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.854 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 25.854 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 25.854 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.854 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.854 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.854 * [backup-simplify]: Simplify -0.5 into -0.5 25.854 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.854 * [backup-simplify]: Simplify phi2 into phi2 25.854 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.854 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.854 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.854 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.854 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.854 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.854 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 25.854 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.854 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.854 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.854 * [backup-simplify]: Simplify -0.5 into -0.5 25.854 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.854 * [backup-simplify]: Simplify phi1 into phi1 25.854 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.854 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.854 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.855 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.855 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.855 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.855 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 25.855 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 25.855 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.855 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.855 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.855 * [backup-simplify]: Simplify -0.5 into -0.5 25.855 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.855 * [backup-simplify]: Simplify phi2 into phi2 25.855 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.855 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.855 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 25.855 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.855 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.855 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.855 * [backup-simplify]: Simplify -0.5 into -0.5 25.855 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.855 * [backup-simplify]: Simplify phi2 into phi2 25.855 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.855 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.855 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 25.855 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.855 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.855 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.855 * [backup-simplify]: Simplify -0.5 into -0.5 25.855 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.855 * [backup-simplify]: Simplify phi1 into phi1 25.855 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.855 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.856 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.856 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.856 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.856 * [backup-simplify]: Simplify -0.5 into -0.5 25.856 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.856 * [backup-simplify]: Simplify phi1 into phi1 25.856 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.856 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.856 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.856 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 25.856 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.856 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.856 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.856 * [backup-simplify]: Simplify -0.5 into -0.5 25.856 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.856 * [backup-simplify]: Simplify phi2 into phi2 25.856 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.856 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.856 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.856 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 25.856 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.856 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.856 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.856 * [backup-simplify]: Simplify -0.5 into -0.5 25.856 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.856 * [backup-simplify]: Simplify phi2 into phi2 25.856 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.856 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.856 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.856 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 25.856 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.856 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.856 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.856 * [backup-simplify]: Simplify -0.5 into -0.5 25.856 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.856 * [backup-simplify]: Simplify phi1 into phi1 25.856 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.857 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.857 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.857 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.857 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.857 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.857 * [backup-simplify]: Simplify -0.5 into -0.5 25.857 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.857 * [backup-simplify]: Simplify phi1 into phi1 25.857 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.857 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.857 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 25.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 25.857 * [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)) 25.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 25.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 25.858 * [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)) 25.858 * [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))) 25.858 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.858 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.859 * [backup-simplify]: Simplify (- 0) into 0 25.859 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.859 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.859 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.859 * [backup-simplify]: Simplify (- 0) into 0 25.860 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.860 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 25.860 * [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)))) 25.860 * [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))))) 25.860 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.860 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.860 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.860 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.860 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.861 * [backup-simplify]: Simplify (- 0) into 0 25.861 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.861 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.861 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.861 * [backup-simplify]: Simplify (- 0) into 0 25.861 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.861 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.861 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.861 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.861 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 25.861 * [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)))) 25.862 * [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))))) 25.862 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 25.863 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 25.864 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 25.865 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 25.866 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 25.866 * [backup-simplify]: Simplify (+ 0) into 0 25.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.867 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.868 * [backup-simplify]: Simplify (- 0) into 0 25.868 * [backup-simplify]: Simplify (+ 0 0) into 0 25.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 25.868 * [backup-simplify]: Simplify (+ 0) into 0 25.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.869 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.870 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.870 * [backup-simplify]: Simplify (- 0) into 0 25.870 * [backup-simplify]: Simplify (+ 0 0) into 0 25.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 25.871 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 25.871 * [backup-simplify]: Simplify (+ 0) into 0 25.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.871 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.872 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.872 * [backup-simplify]: Simplify (+ 0 0) into 0 25.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 25.873 * [backup-simplify]: Simplify (+ 0) into 0 25.873 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.873 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.874 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.874 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.874 * [backup-simplify]: Simplify (+ 0 0) into 0 25.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 25.875 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 25.875 * [backup-simplify]: Simplify (+ 0 0) into 0 25.875 * [backup-simplify]: Simplify (+ 0) into 0 25.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.876 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.876 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.877 * [backup-simplify]: Simplify (- 0) into 0 25.877 * [backup-simplify]: Simplify (+ 0 0) into 0 25.877 * [backup-simplify]: Simplify (+ 0) into 0 25.878 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.878 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.878 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.879 * [backup-simplify]: Simplify (+ 0 0) into 0 25.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 25.879 * [backup-simplify]: Simplify (+ 0) into 0 25.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.880 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.880 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.881 * [backup-simplify]: Simplify (+ 0 0) into 0 25.881 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 25.881 * [backup-simplify]: Simplify (+ 0) into 0 25.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.881 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.882 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.882 * [backup-simplify]: Simplify (- 0) into 0 25.883 * [backup-simplify]: Simplify (+ 0 0) into 0 25.883 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 25.883 * [backup-simplify]: Simplify (+ 0) into 0 25.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.884 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.885 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.885 * [backup-simplify]: Simplify (+ 0 0) into 0 25.886 * [backup-simplify]: Simplify (+ 0) into 0 25.886 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.886 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.887 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.888 * [backup-simplify]: Simplify (- 0) into 0 25.889 * [backup-simplify]: Simplify (+ 0 0) into 0 25.889 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 25.889 * [backup-simplify]: Simplify (+ 0) into 0 25.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.890 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.891 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.892 * [backup-simplify]: Simplify (- 0) into 0 25.892 * [backup-simplify]: Simplify (+ 0 0) into 0 25.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 25.893 * [backup-simplify]: Simplify (+ 0) into 0 25.893 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.894 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.895 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.895 * [backup-simplify]: Simplify (+ 0 0) into 0 25.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 25.896 * [backup-simplify]: Simplify (+ 0 0) into 0 25.896 * [backup-simplify]: Simplify (- 0) into 0 25.897 * [backup-simplify]: Simplify (+ 0 0) into 0 25.901 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 25.903 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 25.903 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 7/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))))))))))))))))) in lambda2 25.910 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 25.910 * [taylor]: Taking taylor expansion of 1/2 in lambda2 25.910 * [backup-simplify]: Simplify 1/2 into 1/2 25.910 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 25.910 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 25.910 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda2 25.910 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2 25.910 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.910 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.910 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.910 * [backup-simplify]: Simplify -0.5 into -0.5 25.910 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.910 * [backup-simplify]: Simplify phi1 into phi1 25.910 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.911 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.911 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.911 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.911 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.912 * [backup-simplify]: Simplify (- 0) into 0 25.912 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.912 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda2 25.912 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2 25.912 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.912 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.912 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.912 * [backup-simplify]: Simplify -0.5 into -0.5 25.912 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.912 * [backup-simplify]: Simplify phi2 into phi2 25.912 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.912 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.912 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.912 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.912 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.913 * [backup-simplify]: Simplify (- 0) into 0 25.913 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.913 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda2 25.913 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.913 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.913 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.913 * [backup-simplify]: Simplify -0.5 into -0.5 25.913 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.913 * [backup-simplify]: Simplify phi1 into phi1 25.913 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.913 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.913 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.913 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.913 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.913 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.914 * [backup-simplify]: Simplify -0.5 into -0.5 25.914 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.914 * [backup-simplify]: Simplify phi2 into phi2 25.914 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.914 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.914 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.914 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 25.914 * [taylor]: Taking taylor expansion of R in lambda2 25.914 * [backup-simplify]: Simplify R into R 25.914 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 25.914 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 25.914 * [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 25.914 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 25.914 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 25.914 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.914 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.914 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.914 * [backup-simplify]: Simplify -0.5 into -0.5 25.914 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.914 * [backup-simplify]: Simplify phi2 into phi2 25.914 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.914 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.915 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.915 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.915 * [backup-simplify]: Simplify (- 0) into 0 25.915 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.915 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 25.915 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.915 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.915 * [backup-simplify]: Simplify -0.5 into -0.5 25.915 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.915 * [backup-simplify]: Simplify phi1 into phi1 25.915 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.916 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.916 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.916 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.916 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.916 * [backup-simplify]: Simplify (- 0) into 0 25.916 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.916 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 25.916 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 25.916 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.916 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.916 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.916 * [backup-simplify]: Simplify -0.5 into -0.5 25.917 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.917 * [backup-simplify]: Simplify phi2 into phi2 25.917 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.917 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.917 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.917 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.917 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.917 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.917 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 25.917 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.917 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.917 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.917 * [backup-simplify]: Simplify -0.5 into -0.5 25.917 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.917 * [backup-simplify]: Simplify phi1 into phi1 25.917 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.917 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.918 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.918 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.918 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.918 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.918 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 25.918 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 25.918 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.918 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.918 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.918 * [backup-simplify]: Simplify -0.5 into -0.5 25.918 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.918 * [backup-simplify]: Simplify phi2 into phi2 25.918 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.918 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.918 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.918 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 25.918 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.918 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.918 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.918 * [backup-simplify]: Simplify -0.5 into -0.5 25.918 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.919 * [backup-simplify]: Simplify phi2 into phi2 25.919 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.919 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.919 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.919 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 25.919 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.919 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.919 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.919 * [backup-simplify]: Simplify -0.5 into -0.5 25.919 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.919 * [backup-simplify]: Simplify phi1 into phi1 25.919 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.919 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.919 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.919 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.919 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.919 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.919 * [backup-simplify]: Simplify -0.5 into -0.5 25.919 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.919 * [backup-simplify]: Simplify phi1 into phi1 25.919 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.919 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.920 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.920 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 25.920 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.920 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.920 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.920 * [backup-simplify]: Simplify -0.5 into -0.5 25.920 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.920 * [backup-simplify]: Simplify phi2 into phi2 25.920 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.920 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.920 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.920 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 25.920 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.920 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.920 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.920 * [backup-simplify]: Simplify -0.5 into -0.5 25.920 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.920 * [backup-simplify]: Simplify phi2 into phi2 25.920 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.920 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.920 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.920 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 25.920 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.920 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.920 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.920 * [backup-simplify]: Simplify -0.5 into -0.5 25.921 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.921 * [backup-simplify]: Simplify phi1 into phi1 25.921 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.921 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.921 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.921 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.921 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.921 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.921 * [backup-simplify]: Simplify -0.5 into -0.5 25.921 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.921 * [backup-simplify]: Simplify phi1 into phi1 25.921 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.921 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.921 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.921 * [taylor]: Taking taylor expansion of (pow lambda2 3) 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 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 25.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 25.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 25.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 25.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.922 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.923 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.923 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.923 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 25.923 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1)))) 25.924 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))) 25.924 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 25.924 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 25.924 * [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)) 25.924 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 25.925 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 25.925 * [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)) 25.926 * [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))) 25.926 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.926 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.926 * [backup-simplify]: Simplify (- 0) into 0 25.926 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.927 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.927 * [backup-simplify]: Simplify (- 0) into 0 25.927 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.928 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.928 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.928 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 25.928 * [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)))) 25.928 * [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))))) 25.928 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.929 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.929 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.929 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.929 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.929 * [backup-simplify]: Simplify (- 0) into 0 25.929 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.929 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.930 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.930 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.930 * [backup-simplify]: Simplify (- 0) into 0 25.930 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.930 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 25.931 * [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)))) 25.931 * [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))))) 25.932 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 25.932 * [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))))))) 25.934 * [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))))))) 25.935 * [backup-simplify]: Simplify (* 1 1) into 1 25.935 * [backup-simplify]: Simplify (* 1 1) into 1 25.937 * [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))))))) 1) 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))))))) 25.939 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 25.941 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 25.941 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 25.941 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 25.941 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 25.941 * [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 25.941 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 25.941 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 25.941 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.941 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.941 * [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 phi2 in lambda2 25.942 * [backup-simplify]: Simplify phi2 into phi2 25.942 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.942 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.942 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.942 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.942 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.943 * [backup-simplify]: Simplify (- 0) into 0 25.943 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.943 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 25.943 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.943 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) 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 phi1 in lambda2 25.943 * [backup-simplify]: Simplify phi1 into phi1 25.943 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -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)) into (sin (/ -0.5 phi1)) 25.943 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.943 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.944 * [backup-simplify]: Simplify (- 0) into 0 25.944 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.944 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 25.944 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 25.944 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.944 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.944 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.944 * [backup-simplify]: Simplify -0.5 into -0.5 25.944 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.944 * [backup-simplify]: Simplify phi2 into phi2 25.944 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.944 * [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)) 25.945 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 25.945 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.945 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.945 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.945 * [backup-simplify]: Simplify -0.5 into -0.5 25.945 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.945 * [backup-simplify]: Simplify phi1 into phi1 25.945 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.945 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.945 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.945 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.945 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.945 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.945 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 25.945 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 25.945 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 25.945 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 25.945 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.945 * [backup-simplify]: Simplify -0.5 into -0.5 25.945 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.945 * [backup-simplify]: Simplify phi2 into phi2 25.945 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.946 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.946 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.946 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 25.946 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 25.946 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) 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 phi2 in lambda2 25.946 * [backup-simplify]: Simplify phi2 into phi2 25.946 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.946 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.946 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.946 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 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)) 25.947 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.947 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.947 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) 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 phi1 in lambda2 25.947 * [backup-simplify]: Simplify phi1 into phi1 25.947 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.947 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.947 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.947 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 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 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 25.947 * [taylor]: Taking taylor expansion of (cos (/ -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 25.948 * [taylor]: Taking taylor expansion of phi2 in lambda2 25.948 * [backup-simplify]: Simplify phi2 into phi2 25.948 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 25.948 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 25.948 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 25.948 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 25.948 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 25.948 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.948 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.948 * [backup-simplify]: Simplify -0.5 into -0.5 25.948 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.948 * [backup-simplify]: Simplify phi1 into phi1 25.948 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.948 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.948 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.948 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 25.948 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 25.948 * [taylor]: Taking taylor expansion of -0.5 in lambda2 25.948 * [backup-simplify]: Simplify -0.5 into -0.5 25.948 * [taylor]: Taking taylor expansion of phi1 in lambda2 25.948 * [backup-simplify]: Simplify phi1 into phi1 25.948 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 25.949 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 25.949 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 25.949 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 25.949 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 25.949 * [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)) 25.949 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 25.950 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 25.950 * [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)) 25.951 * [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))) 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))) 25.951 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.951 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.951 * [backup-simplify]: Simplify (- 0) into 0 25.951 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.952 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.952 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.953 * [backup-simplify]: Simplify (- 0) into 0 25.953 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 25.953 * [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)))) 25.953 * [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))))) 25.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 25.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 25.954 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 25.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 25.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 25.954 * [backup-simplify]: Simplify (- 0) into 0 25.954 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 25.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 25.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 25.955 * [backup-simplify]: Simplify (- 0) into 0 25.955 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 25.955 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 25.955 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 25.955 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 25.955 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 25.956 * [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)))) 25.956 * [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))))) 25.957 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 25.957 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 25.959 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 25.961 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 25.963 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 25.963 * [backup-simplify]: Simplify (+ 0) into 0 25.964 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.964 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.965 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.965 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.965 * [backup-simplify]: Simplify (- 0) into 0 25.966 * [backup-simplify]: Simplify (+ 0 0) into 0 25.966 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 25.966 * [backup-simplify]: Simplify (+ 0) into 0 25.967 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.967 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.968 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.968 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.968 * [backup-simplify]: Simplify (- 0) into 0 25.969 * [backup-simplify]: Simplify (+ 0 0) into 0 25.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 25.969 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 25.970 * [backup-simplify]: Simplify (+ 0) into 0 25.970 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.970 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.972 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.972 * [backup-simplify]: Simplify (+ 0 0) into 0 25.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 25.972 * [backup-simplify]: Simplify (+ 0) into 0 25.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.973 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.974 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.974 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.975 * [backup-simplify]: Simplify (+ 0 0) into 0 25.975 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 25.975 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 25.976 * [backup-simplify]: Simplify (+ 0 0) into 0 25.976 * [backup-simplify]: Simplify (+ 0) into 0 25.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.977 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.977 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.978 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.978 * [backup-simplify]: Simplify (- 0) into 0 25.978 * [backup-simplify]: Simplify (+ 0 0) into 0 25.979 * [backup-simplify]: Simplify (+ 0) into 0 25.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.980 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.980 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.981 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.981 * [backup-simplify]: Simplify (+ 0 0) into 0 25.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 25.982 * [backup-simplify]: Simplify (+ 0) into 0 25.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.982 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.983 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.984 * [backup-simplify]: Simplify (+ 0 0) into 0 25.984 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 25.984 * [backup-simplify]: Simplify (+ 0) into 0 25.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.985 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.986 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.986 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.987 * [backup-simplify]: Simplify (- 0) into 0 25.987 * [backup-simplify]: Simplify (+ 0 0) into 0 25.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 25.988 * [backup-simplify]: Simplify (+ 0) into 0 25.988 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.989 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.989 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.990 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.990 * [backup-simplify]: Simplify (+ 0 0) into 0 25.990 * [backup-simplify]: Simplify (+ 0) into 0 25.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 25.991 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 25.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.992 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 25.993 * [backup-simplify]: Simplify (- 0) into 0 25.993 * [backup-simplify]: Simplify (+ 0 0) into 0 25.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 25.993 * [backup-simplify]: Simplify (+ 0) into 0 25.994 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.994 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.995 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.996 * [backup-simplify]: Simplify (- 0) into 0 25.996 * [backup-simplify]: Simplify (+ 0 0) into 0 25.996 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 25.996 * [backup-simplify]: Simplify (+ 0) into 0 25.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 25.997 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 25.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 25.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 25.999 * [backup-simplify]: Simplify (+ 0 0) into 0 25.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 25.999 * [backup-simplify]: Simplify (+ 0 0) into 0 26.000 * [backup-simplify]: Simplify (- 0) into 0 26.000 * [backup-simplify]: Simplify (+ 0 0) into 0 26.003 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.005 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.005 * [taylor]: Taking taylor expansion of (+ (* 7/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))))))))))))))) in lambda2 26.006 * [taylor]: Taking taylor expansion of (* 7/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 26.007 * [taylor]: Taking taylor expansion of 7/2 in lambda2 26.007 * [backup-simplify]: Simplify 7/2 into 7/2 26.007 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 26.007 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 26.007 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) in lambda2 26.007 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2 26.007 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.007 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.007 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.007 * [backup-simplify]: Simplify -0.5 into -0.5 26.007 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.007 * [backup-simplify]: Simplify phi2 into phi2 26.007 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.007 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.007 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.007 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.007 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.008 * [backup-simplify]: Simplify (- 0) into 0 26.008 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.008 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) in lambda2 26.008 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2 26.008 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.008 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.008 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.008 * [backup-simplify]: Simplify -0.5 into -0.5 26.008 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.008 * [backup-simplify]: Simplify phi1 into phi1 26.008 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.008 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.009 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.009 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.009 * [backup-simplify]: Simplify (- 0) into 0 26.009 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.009 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) in lambda2 26.009 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.009 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.009 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.009 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.009 * [backup-simplify]: Simplify -0.5 into -0.5 26.009 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.009 * [backup-simplify]: Simplify phi1 into phi1 26.009 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.010 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.010 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.010 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.010 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.010 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.010 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.010 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.010 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.010 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.010 * [backup-simplify]: Simplify -0.5 into -0.5 26.010 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.010 * [backup-simplify]: Simplify phi2 into phi2 26.010 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.010 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.010 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.010 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.010 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.011 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.011 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 26.011 * [taylor]: Taking taylor expansion of R in lambda2 26.011 * [backup-simplify]: Simplify R into R 26.011 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 26.011 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 26.011 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2 26.011 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.011 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.011 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.011 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.011 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.011 * [backup-simplify]: Simplify -0.5 into -0.5 26.011 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.011 * [backup-simplify]: Simplify phi2 into phi2 26.011 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.011 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.011 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.011 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.011 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.012 * [backup-simplify]: Simplify (- 0) into 0 26.012 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.012 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.012 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.012 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.012 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.012 * [backup-simplify]: Simplify -0.5 into -0.5 26.012 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.012 * [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)) 26.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.013 * [backup-simplify]: Simplify (- 0) into 0 26.013 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.013 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.013 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.013 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.013 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.013 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.013 * [backup-simplify]: Simplify -0.5 into -0.5 26.013 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.013 * [backup-simplify]: Simplify phi2 into phi2 26.013 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.013 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.013 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.014 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.014 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.014 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.014 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.014 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.014 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.014 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.014 * [backup-simplify]: Simplify -0.5 into -0.5 26.014 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 (sin (/ -0.5 phi1)) into (sin (/ -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)) 1) into (sin (/ -0.5 phi1)) 26.014 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.014 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.014 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 26.015 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.015 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.015 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.015 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.015 * [backup-simplify]: Simplify -0.5 into -0.5 26.015 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.015 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.015 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.015 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.015 * [backup-simplify]: Simplify -0.5 into -0.5 26.015 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.015 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.015 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.015 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.015 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.015 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.015 * [backup-simplify]: Simplify -0.5 into -0.5 26.015 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.016 * [backup-simplify]: Simplify phi1 into phi1 26.016 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.016 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.016 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.016 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.016 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.016 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.016 * [backup-simplify]: Simplify -0.5 into -0.5 26.016 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.016 * [backup-simplify]: Simplify phi1 into phi1 26.016 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.016 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.016 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.016 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.016 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.016 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.016 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.016 * [backup-simplify]: Simplify -0.5 into -0.5 26.016 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.016 * [backup-simplify]: Simplify phi2 into phi2 26.016 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.016 * [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 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.017 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.017 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.017 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.017 * [backup-simplify]: Simplify -0.5 into -0.5 26.017 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.017 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.017 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.017 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.017 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.017 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.017 * [backup-simplify]: Simplify -0.5 into -0.5 26.017 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.017 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.017 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.017 * [backup-simplify]: Simplify -0.5 into -0.5 26.017 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.018 * [backup-simplify]: Simplify phi1 into phi1 26.018 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.018 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.018 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.018 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 26.018 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.018 * [backup-simplify]: Simplify 0 into 0 26.018 * [backup-simplify]: Simplify 1 into 1 26.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.018 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4) 26.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.019 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4) 26.019 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.019 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.019 * [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 (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))) 26.020 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) into (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) 26.021 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.021 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.021 * [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)) 26.021 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.021 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.022 * [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)) 26.022 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 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))) 26.022 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.022 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.023 * [backup-simplify]: Simplify (- 0) into 0 26.023 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.023 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.023 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.023 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.023 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.024 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.024 * [backup-simplify]: Simplify (- 0) into 0 26.024 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.024 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.024 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.024 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.024 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.025 * [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)))) 26.025 * [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))))) 26.025 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.025 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.025 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.025 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.025 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.026 * [backup-simplify]: Simplify (- 0) into 0 26.026 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 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 (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.026 * [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)) 26.027 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.027 * [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)))) 26.027 * [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))))) 26.027 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.028 * [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))))))) 26.029 * [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))))))) 26.029 * [backup-simplify]: Simplify (* 1 1) into 1 26.029 * [backup-simplify]: Simplify (* 1 1) into 1 26.030 * [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))))))) 1) 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))))))) 26.031 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 26.033 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R)) into (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 26.033 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 26.033 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 26.033 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 26.033 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 26.033 * [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 26.033 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.033 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.033 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.033 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.033 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.033 * [backup-simplify]: Simplify -0.5 into -0.5 26.033 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.033 * [backup-simplify]: Simplify phi2 into phi2 26.033 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.033 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.034 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.034 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.034 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.034 * [backup-simplify]: Simplify (- 0) into 0 26.034 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.034 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.034 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.034 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.034 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.034 * [backup-simplify]: Simplify -0.5 into -0.5 26.034 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.034 * [backup-simplify]: Simplify phi1 into phi1 26.034 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.034 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.034 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.034 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.034 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.035 * [backup-simplify]: Simplify (- 0) into 0 26.035 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.035 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.035 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.035 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.035 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.035 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.035 * [backup-simplify]: Simplify -0.5 into -0.5 26.035 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.035 * [backup-simplify]: Simplify phi2 into phi2 26.035 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.035 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.035 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.035 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.035 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.035 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.035 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.035 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.035 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.035 * [backup-simplify]: Simplify -0.5 into -0.5 26.035 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.035 * [backup-simplify]: Simplify phi1 into phi1 26.035 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.036 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.036 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.036 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.036 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 26.036 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.036 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.036 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.036 * [backup-simplify]: Simplify -0.5 into -0.5 26.036 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.036 * [backup-simplify]: Simplify phi2 into phi2 26.036 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.036 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.036 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.036 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.036 * [backup-simplify]: Simplify -0.5 into -0.5 26.036 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.036 * [backup-simplify]: Simplify phi2 into phi2 26.036 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.036 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.036 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.036 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.036 * [backup-simplify]: Simplify -0.5 into -0.5 26.036 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.036 * [backup-simplify]: Simplify phi1 into phi1 26.036 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.037 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.037 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.037 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.037 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.037 * [backup-simplify]: Simplify -0.5 into -0.5 26.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.037 * [backup-simplify]: Simplify phi1 into phi1 26.037 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.037 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.037 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.037 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.037 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.037 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.037 * [backup-simplify]: Simplify -0.5 into -0.5 26.037 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.037 * [backup-simplify]: Simplify phi2 into phi2 26.037 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.037 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.037 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.037 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.037 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.037 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.037 * [backup-simplify]: Simplify -0.5 into -0.5 26.037 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.037 * [backup-simplify]: Simplify phi2 into phi2 26.037 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.037 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.037 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.037 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.037 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.037 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.037 * [backup-simplify]: Simplify -0.5 into -0.5 26.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.038 * [backup-simplify]: Simplify phi1 into phi1 26.038 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.038 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.038 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.038 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.038 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.038 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.038 * [backup-simplify]: Simplify -0.5 into -0.5 26.038 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.038 * [backup-simplify]: Simplify phi1 into phi1 26.038 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.038 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.038 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.038 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.038 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.038 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 26.038 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.039 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.039 * [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)) 26.039 * [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))) 26.039 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.039 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.040 * [backup-simplify]: Simplify (- 0) into 0 26.040 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.040 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.041 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.041 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.041 * [backup-simplify]: Simplify (- 0) into 0 26.041 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.041 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.042 * [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)))) 26.042 * [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))))) 26.042 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.042 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.042 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.042 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.042 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.043 * [backup-simplify]: Simplify (- 0) into 0 26.043 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.043 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.043 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.043 * [backup-simplify]: Simplify (- 0) into 0 26.043 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.044 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.044 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.044 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.044 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.044 * [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)))) 26.044 * [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))))) 26.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.046 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.048 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.051 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 26.054 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 26.058 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.061 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.062 * [backup-simplify]: Simplify (+ 0) into 0 26.062 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.063 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.064 * [backup-simplify]: Simplify (- 0) into 0 26.064 * [backup-simplify]: Simplify (+ 0 0) into 0 26.065 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.065 * [backup-simplify]: Simplify (+ 0) into 0 26.065 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.066 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.067 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.067 * [backup-simplify]: Simplify (- 0) into 0 26.067 * [backup-simplify]: Simplify (+ 0 0) into 0 26.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.068 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.074 * [backup-simplify]: Simplify (+ 0) into 0 26.074 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.075 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.076 * [backup-simplify]: Simplify (+ 0 0) into 0 26.076 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.076 * [backup-simplify]: Simplify (+ 0) into 0 26.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.077 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.077 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.078 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.078 * [backup-simplify]: Simplify (+ 0 0) into 0 26.078 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.078 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.079 * [backup-simplify]: Simplify (+ 0 0) into 0 26.079 * [backup-simplify]: Simplify (+ 0) into 0 26.079 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.079 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.080 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.081 * [backup-simplify]: Simplify (- 0) into 0 26.081 * [backup-simplify]: Simplify (+ 0 0) into 0 26.081 * [backup-simplify]: Simplify (+ 0) into 0 26.082 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.082 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.083 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.083 * [backup-simplify]: Simplify (+ 0 0) into 0 26.083 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.084 * [backup-simplify]: Simplify (+ 0) into 0 26.084 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.085 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.085 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.086 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.086 * [backup-simplify]: Simplify (+ 0 0) into 0 26.086 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.087 * [backup-simplify]: Simplify (+ 0) into 0 26.087 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.087 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.088 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.088 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.089 * [backup-simplify]: Simplify (- 0) into 0 26.089 * [backup-simplify]: Simplify (+ 0 0) into 0 26.089 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.090 * [backup-simplify]: Simplify (+ 0) into 0 26.090 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.090 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.091 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.091 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.091 * [backup-simplify]: Simplify (+ 0 0) into 0 26.091 * [backup-simplify]: Simplify (+ 0) into 0 26.092 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.092 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.092 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.093 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.093 * [backup-simplify]: Simplify (- 0) into 0 26.093 * [backup-simplify]: Simplify (+ 0 0) into 0 26.093 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.094 * [backup-simplify]: Simplify (+ 0) into 0 26.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.094 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.095 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.095 * [backup-simplify]: Simplify (- 0) into 0 26.095 * [backup-simplify]: Simplify (+ 0 0) into 0 26.095 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.096 * [backup-simplify]: Simplify (+ 0) into 0 26.096 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.096 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.097 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.097 * [backup-simplify]: Simplify (+ 0 0) into 0 26.097 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.098 * [backup-simplify]: Simplify (+ 0 0) into 0 26.098 * [backup-simplify]: Simplify (- 0) into 0 26.098 * [backup-simplify]: Simplify (+ 0 0) into 0 26.100 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 26.103 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 26.107 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 26.110 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 26.110 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))))))))))))))) in lambda2 26.110 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 26.110 * [taylor]: Taking taylor expansion of 1/2 in lambda2 26.110 * [backup-simplify]: Simplify 1/2 into 1/2 26.110 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 26.110 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 26.111 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) in lambda2 26.111 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2 26.111 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.111 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.111 * [backup-simplify]: Simplify -0.5 into -0.5 26.111 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.111 * [backup-simplify]: Simplify phi2 into phi2 26.111 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.111 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.111 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.111 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.111 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.111 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.111 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2)))) in lambda2 26.111 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.111 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.111 * [backup-simplify]: Simplify -0.5 into -0.5 26.111 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.111 * [backup-simplify]: Simplify phi1 into phi1 26.111 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.111 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.111 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.111 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))) in lambda2 26.111 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2 26.111 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.111 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.111 * [backup-simplify]: Simplify -0.5 into -0.5 26.111 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.111 * [backup-simplify]: Simplify phi1 into phi1 26.112 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.112 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.112 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.112 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.112 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.112 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.112 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.112 * [backup-simplify]: Simplify -0.5 into -0.5 26.112 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.112 * [backup-simplify]: Simplify phi2 into phi2 26.112 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.112 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.112 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 26.112 * [taylor]: Taking taylor expansion of R in lambda2 26.112 * [backup-simplify]: Simplify R into R 26.112 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 26.112 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 26.112 * [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 26.112 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.112 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.112 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.112 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.112 * [backup-simplify]: Simplify -0.5 into -0.5 26.112 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.112 * [backup-simplify]: Simplify phi2 into phi2 26.112 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.113 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.113 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.113 * [backup-simplify]: Simplify (- 0) into 0 26.113 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.113 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.113 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.113 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.113 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.113 * [backup-simplify]: Simplify -0.5 into -0.5 26.113 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.113 * [backup-simplify]: Simplify phi1 into phi1 26.113 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.113 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.114 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.114 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.114 * [backup-simplify]: Simplify (- 0) into 0 26.114 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.114 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.114 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.114 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.114 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.114 * [backup-simplify]: Simplify -0.5 into -0.5 26.114 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.114 * [backup-simplify]: Simplify phi2 into phi2 26.114 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.114 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.114 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.114 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.114 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.114 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.114 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.114 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.114 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.114 * [backup-simplify]: Simplify -0.5 into -0.5 26.115 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.115 * [backup-simplify]: Simplify phi1 into phi1 26.115 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.115 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.115 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.115 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.115 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.115 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.115 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 26.115 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.115 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.115 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.115 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.115 * [backup-simplify]: Simplify -0.5 into -0.5 26.115 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.115 * [backup-simplify]: Simplify phi2 into phi2 26.115 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.115 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.115 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.115 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.115 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.115 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.115 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.115 * [backup-simplify]: Simplify -0.5 into -0.5 26.115 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.115 * [backup-simplify]: Simplify phi2 into phi2 26.115 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.116 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.116 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.116 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.116 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.116 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.116 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.116 * [backup-simplify]: Simplify -0.5 into -0.5 26.116 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.116 * [backup-simplify]: Simplify phi1 into phi1 26.116 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.116 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.116 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.116 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.116 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.116 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.116 * [backup-simplify]: Simplify -0.5 into -0.5 26.116 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.116 * [backup-simplify]: Simplify phi1 into phi1 26.116 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.116 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.116 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.116 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.116 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.116 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.116 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.116 * [backup-simplify]: Simplify -0.5 into -0.5 26.116 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.116 * [backup-simplify]: Simplify phi2 into phi2 26.116 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.116 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.116 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.116 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.116 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.116 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.116 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.116 * [backup-simplify]: Simplify -0.5 into -0.5 26.116 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.117 * [backup-simplify]: Simplify phi2 into phi2 26.117 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.117 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.117 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.117 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.117 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.117 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.117 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.117 * [backup-simplify]: Simplify -0.5 into -0.5 26.117 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.117 * [backup-simplify]: Simplify phi1 into phi1 26.117 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.117 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.117 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.117 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.117 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.117 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.117 * [backup-simplify]: Simplify -0.5 into -0.5 26.117 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.117 * [backup-simplify]: Simplify phi1 into phi1 26.117 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.117 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.117 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.117 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 26.117 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.117 * [backup-simplify]: Simplify 0 into 0 26.117 * [backup-simplify]: Simplify 1 into 1 26.117 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3) 26.118 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.118 * [backup-simplify]: Simplify (- 0) into 0 26.118 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3) 26.118 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.119 * [backup-simplify]: Simplify (- 0) into 0 26.119 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.119 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))) into (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))) 26.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))) 26.119 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) into (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) 26.120 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.120 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.120 * [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)) 26.120 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.120 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.120 * [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)) 26.121 * [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))) 26.121 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.121 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.121 * [backup-simplify]: Simplify (- 0) into 0 26.121 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.121 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.121 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.121 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.121 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.121 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.122 * [backup-simplify]: Simplify (- 0) into 0 26.122 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.122 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.122 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.122 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.122 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.122 * [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)))) 26.122 * [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))))) 26.122 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.123 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.123 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.123 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.123 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.123 * [backup-simplify]: Simplify (- 0) into 0 26.123 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.123 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.123 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.123 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) 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 26.124 * [backup-simplify]: Simplify (- 0) into 0 26.124 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.124 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.124 * [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)))) 26.124 * [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))))) 26.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.125 * [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))))))) 26.126 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (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))))))) 26.126 * [backup-simplify]: Simplify (* 1 1) into 1 26.127 * [backup-simplify]: Simplify (* 1 1) into 1 26.128 * [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))))))) 1) 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))))))) 26.129 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 26.130 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 26.130 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 26.130 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 26.130 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 26.130 * [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 26.130 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.130 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.130 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.130 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.130 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.130 * [backup-simplify]: Simplify -0.5 into -0.5 26.130 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.130 * [backup-simplify]: Simplify phi2 into phi2 26.130 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.131 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.131 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.131 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.131 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.131 * [backup-simplify]: Simplify (- 0) into 0 26.131 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.131 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.131 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.131 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.131 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.131 * [backup-simplify]: Simplify -0.5 into -0.5 26.131 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.131 * [backup-simplify]: Simplify phi1 into phi1 26.131 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.131 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.131 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.131 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.132 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.132 * [backup-simplify]: Simplify (- 0) into 0 26.132 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.132 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.132 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.132 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.132 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.132 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.132 * [backup-simplify]: Simplify -0.5 into -0.5 26.132 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.132 * [backup-simplify]: Simplify phi2 into phi2 26.132 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.132 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.132 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.132 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.132 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.132 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.132 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.132 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.132 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.132 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.132 * [backup-simplify]: Simplify -0.5 into -0.5 26.132 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.132 * [backup-simplify]: Simplify phi1 into phi1 26.133 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.133 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.133 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.133 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.133 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.133 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.133 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 26.133 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.133 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.133 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.133 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.133 * [backup-simplify]: Simplify -0.5 into -0.5 26.133 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.133 * [backup-simplify]: Simplify phi2 into phi2 26.133 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.133 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.133 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.133 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.133 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.133 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.133 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.133 * [backup-simplify]: Simplify -0.5 into -0.5 26.133 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.133 * [backup-simplify]: Simplify phi2 into phi2 26.133 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.133 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.133 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.133 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.133 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.133 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.134 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.134 * [backup-simplify]: Simplify -0.5 into -0.5 26.134 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.134 * [backup-simplify]: Simplify phi1 into phi1 26.134 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.134 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.134 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.134 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.134 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.134 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.134 * [backup-simplify]: Simplify -0.5 into -0.5 26.134 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.134 * [backup-simplify]: Simplify phi1 into phi1 26.134 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.134 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.134 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.134 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.134 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.134 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.134 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.134 * [backup-simplify]: Simplify -0.5 into -0.5 26.134 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.134 * [backup-simplify]: Simplify phi2 into phi2 26.134 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.134 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.134 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.134 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.134 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.134 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.134 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.134 * [backup-simplify]: Simplify -0.5 into -0.5 26.134 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.134 * [backup-simplify]: Simplify phi2 into phi2 26.134 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.134 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.134 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.135 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.135 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.135 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.135 * [backup-simplify]: Simplify -0.5 into -0.5 26.135 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.135 * [backup-simplify]: Simplify phi1 into phi1 26.135 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.135 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.135 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.135 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.135 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.135 * [backup-simplify]: Simplify -0.5 into -0.5 26.135 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.135 * [backup-simplify]: Simplify phi1 into phi1 26.135 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.135 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.135 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.135 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.135 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.136 * [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)) 26.136 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.136 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.136 * [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)) 26.136 * [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))) 26.136 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.137 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.137 * [backup-simplify]: Simplify (- 0) into 0 26.137 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.137 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.137 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.137 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.137 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.137 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.137 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.137 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.138 * [backup-simplify]: Simplify (- 0) into 0 26.138 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.138 * [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)))) 26.138 * [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))))) 26.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.138 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.138 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.139 * [backup-simplify]: Simplify (- 0) into 0 26.139 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.139 * [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 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.140 * [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)))) 26.140 * [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))))) 26.141 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.141 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.142 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.143 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 26.144 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.145 * [backup-simplify]: Simplify (+ 0) into 0 26.145 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.145 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.146 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.146 * [backup-simplify]: Simplify (- 0) into 0 26.146 * [backup-simplify]: Simplify (+ 0 0) into 0 26.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.147 * [backup-simplify]: Simplify (+ 0) into 0 26.147 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.147 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.148 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.148 * [backup-simplify]: Simplify (- 0) into 0 26.149 * [backup-simplify]: Simplify (+ 0 0) into 0 26.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.149 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.150 * [backup-simplify]: Simplify (+ 0) into 0 26.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.151 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.152 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.152 * [backup-simplify]: Simplify (+ 0 0) into 0 26.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.153 * [backup-simplify]: Simplify (+ 0) into 0 26.153 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.153 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.155 * [backup-simplify]: Simplify (+ 0 0) into 0 26.155 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.156 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.156 * [backup-simplify]: Simplify (+ 0 0) into 0 26.156 * [backup-simplify]: Simplify (+ 0) into 0 26.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.157 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.158 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.159 * [backup-simplify]: Simplify (- 0) into 0 26.159 * [backup-simplify]: Simplify (+ 0 0) into 0 26.159 * [backup-simplify]: Simplify (+ 0) into 0 26.160 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.160 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.161 * [backup-simplify]: Simplify (+ 0 0) into 0 26.162 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.162 * [backup-simplify]: Simplify (+ 0) into 0 26.163 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.163 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.164 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.164 * [backup-simplify]: Simplify (+ 0 0) into 0 26.165 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.165 * [backup-simplify]: Simplify (+ 0) into 0 26.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.166 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.167 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.167 * [backup-simplify]: Simplify (- 0) into 0 26.167 * [backup-simplify]: Simplify (+ 0 0) into 0 26.168 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.168 * [backup-simplify]: Simplify (+ 0) into 0 26.169 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.169 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.170 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.171 * [backup-simplify]: Simplify (+ 0 0) into 0 26.171 * [backup-simplify]: Simplify (+ 0) into 0 26.171 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.172 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.173 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.173 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.173 * [backup-simplify]: Simplify (- 0) into 0 26.174 * [backup-simplify]: Simplify (+ 0 0) into 0 26.174 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.174 * [backup-simplify]: Simplify (+ 0) into 0 26.175 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.175 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.176 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.176 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.176 * [backup-simplify]: Simplify (- 0) into 0 26.177 * [backup-simplify]: Simplify (+ 0 0) into 0 26.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.177 * [backup-simplify]: Simplify (+ 0) into 0 26.178 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.178 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.179 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.179 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.180 * [backup-simplify]: Simplify (+ 0 0) into 0 26.180 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.180 * [backup-simplify]: Simplify (+ 0 0) into 0 26.181 * [backup-simplify]: Simplify (- 0) into 0 26.181 * [backup-simplify]: Simplify (+ 0 0) into 0 26.185 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.187 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.187 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) 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(/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* 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phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))))))))))))) in lambda2 26.188 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 26.188 * [taylor]: Taking taylor expansion of 1/2 in lambda2 26.188 * [backup-simplify]: Simplify 1/2 into 1/2 26.188 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 26.188 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 26.188 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) in lambda2 26.188 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 6) in lambda2 26.188 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.188 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.188 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.188 * [backup-simplify]: Simplify -0.5 into -0.5 26.188 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.188 * [backup-simplify]: Simplify phi2 into phi2 26.188 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.188 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.188 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.189 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.189 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.189 * [backup-simplify]: Simplify (- 0) into 0 26.189 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.189 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 6) in lambda2 26.189 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.190 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.190 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.190 * [backup-simplify]: Simplify -0.5 into -0.5 26.190 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.190 * [backup-simplify]: Simplify phi1 into phi1 26.190 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.190 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.190 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.190 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.190 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.191 * [backup-simplify]: Simplify (- 0) into 0 26.191 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.191 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 26.191 * [taylor]: Taking taylor expansion of R in lambda2 26.191 * [backup-simplify]: Simplify R into R 26.191 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 26.191 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 26.191 * [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 26.191 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.191 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.191 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.191 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.191 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.191 * [backup-simplify]: Simplify -0.5 into -0.5 26.191 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.191 * [backup-simplify]: Simplify phi2 into phi2 26.191 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.191 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.191 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.191 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.192 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.192 * [backup-simplify]: Simplify (- 0) into 0 26.192 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.192 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.192 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.192 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.192 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.192 * [backup-simplify]: Simplify -0.5 into -0.5 26.192 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.192 * [backup-simplify]: Simplify phi1 into phi1 26.192 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.192 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.193 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.193 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.193 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.193 * [backup-simplify]: Simplify (- 0) into 0 26.193 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.193 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.193 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.193 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.193 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.193 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.193 * [backup-simplify]: Simplify -0.5 into -0.5 26.193 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.193 * [backup-simplify]: Simplify phi2 into phi2 26.193 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.194 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.194 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.194 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.194 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.194 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.194 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.194 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.194 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.194 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.194 * [backup-simplify]: Simplify -0.5 into -0.5 26.194 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.194 * [backup-simplify]: Simplify phi1 into phi1 26.194 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.194 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.195 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.195 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.195 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.195 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.195 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 26.195 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.195 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.195 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.195 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.195 * [backup-simplify]: Simplify -0.5 into -0.5 26.195 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.195 * [backup-simplify]: Simplify phi2 into phi2 26.195 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.195 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.196 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.196 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.196 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.196 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.196 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.196 * [backup-simplify]: Simplify -0.5 into -0.5 26.196 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.196 * [backup-simplify]: Simplify phi2 into phi2 26.196 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.196 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.196 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.196 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.196 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.196 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.196 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.196 * [backup-simplify]: Simplify -0.5 into -0.5 26.196 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.196 * [backup-simplify]: Simplify phi1 into phi1 26.196 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.196 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.196 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.196 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.196 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.196 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.196 * [backup-simplify]: Simplify -0.5 into -0.5 26.196 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.196 * [backup-simplify]: Simplify phi1 into phi1 26.197 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.197 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.197 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.197 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.197 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.197 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.197 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.197 * [backup-simplify]: Simplify -0.5 into -0.5 26.197 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.197 * [backup-simplify]: Simplify phi2 into phi2 26.197 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.197 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.197 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.197 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.197 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.197 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.197 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.197 * [backup-simplify]: Simplify -0.5 into -0.5 26.197 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.197 * [backup-simplify]: Simplify phi2 into phi2 26.197 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.197 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.198 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.198 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.198 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.198 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.198 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.198 * [backup-simplify]: Simplify -0.5 into -0.5 26.198 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.198 * [backup-simplify]: Simplify phi1 into phi1 26.198 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.198 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.198 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.198 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.198 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.198 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.198 * [backup-simplify]: Simplify -0.5 into -0.5 26.198 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.198 * [backup-simplify]: Simplify phi1 into phi1 26.198 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.198 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.198 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.198 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 26.198 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.198 * [backup-simplify]: Simplify 0 into 0 26.199 * [backup-simplify]: Simplify 1 into 1 26.199 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.199 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 26.199 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)) into (pow (cos (/ -0.5 phi2)) 6) 26.199 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.200 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 26.200 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)) into (pow (cos (/ -0.5 phi1)) 6) 26.200 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) into (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) 26.201 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.201 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.201 * [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)) 26.201 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.201 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.202 * [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)) 26.203 * [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))) 26.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.203 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.203 * [backup-simplify]: Simplify (- 0) into 0 26.203 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.204 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.204 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.204 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.210 * [backup-simplify]: Simplify (- 0) into 0 26.211 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.211 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.211 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.211 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.211 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.212 * [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)))) 26.212 * [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))))) 26.212 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.212 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.212 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.212 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.213 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.213 * [backup-simplify]: Simplify (- 0) into 0 26.213 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.213 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.214 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.214 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.214 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.214 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.214 * [backup-simplify]: Simplify (- 0) into 0 26.214 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.215 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.215 * [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)))) 26.215 * [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))))) 26.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.216 * [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))))))) 26.218 * [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))))))) 26.218 * [backup-simplify]: Simplify (* 1 1) into 1 26.218 * [backup-simplify]: Simplify (* 1 1) into 1 26.219 * [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))))))) 1) 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))))))) 26.220 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 26.222 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* (- (+ (* (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))))))) R)) into (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 26.222 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 26.222 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 26.222 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 26.222 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 26.222 * [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 26.222 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.222 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.222 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.222 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.222 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.222 * [backup-simplify]: Simplify -0.5 into -0.5 26.222 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.222 * [backup-simplify]: Simplify phi2 into phi2 26.222 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.222 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.222 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.222 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.222 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.223 * [backup-simplify]: Simplify (- 0) into 0 26.223 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.223 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.223 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.223 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.223 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.223 * [backup-simplify]: Simplify -0.5 into -0.5 26.223 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.223 * [backup-simplify]: Simplify phi1 into phi1 26.223 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.223 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.223 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.223 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.223 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.223 * [backup-simplify]: Simplify (- 0) into 0 26.223 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.223 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.223 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.223 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.223 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.224 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.224 * [backup-simplify]: Simplify -0.5 into -0.5 26.224 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.224 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.224 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.224 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.224 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.224 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.224 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.224 * [backup-simplify]: Simplify -0.5 into -0.5 26.224 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.224 * [backup-simplify]: Simplify phi1 into phi1 26.224 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.224 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.224 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.224 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.224 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.224 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.224 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 26.224 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.224 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.224 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.224 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.225 * [backup-simplify]: Simplify -0.5 into -0.5 26.225 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.225 * [backup-simplify]: Simplify phi2 into phi2 26.225 * [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 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.225 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.225 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.225 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.225 * [backup-simplify]: Simplify -0.5 into -0.5 26.225 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.225 * [backup-simplify]: Simplify phi2 into phi2 26.225 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.225 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.225 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.225 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.225 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.225 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.225 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.225 * [backup-simplify]: Simplify -0.5 into -0.5 26.225 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.225 * [backup-simplify]: Simplify phi1 into phi1 26.225 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.225 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.225 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.225 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.225 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.225 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.225 * [backup-simplify]: Simplify -0.5 into -0.5 26.225 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.225 * [backup-simplify]: Simplify phi1 into phi1 26.225 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.225 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.225 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.225 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.226 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.226 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.226 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.226 * [backup-simplify]: Simplify -0.5 into -0.5 26.226 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.226 * [backup-simplify]: Simplify phi2 into phi2 26.226 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.226 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.226 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.226 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.226 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.226 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.226 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.226 * [backup-simplify]: Simplify -0.5 into -0.5 26.226 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.226 * [backup-simplify]: Simplify phi2 into phi2 26.226 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.226 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.226 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.226 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.226 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.226 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.226 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.226 * [backup-simplify]: Simplify -0.5 into -0.5 26.226 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.226 * [backup-simplify]: Simplify phi1 into phi1 26.226 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.226 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.226 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.226 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.226 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.226 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.226 * [backup-simplify]: Simplify -0.5 into -0.5 26.226 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.226 * [backup-simplify]: Simplify phi1 into phi1 26.226 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.226 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.227 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.227 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.227 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.227 * [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)) 26.227 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.227 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.227 * [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)) 26.228 * [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))) 26.228 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.228 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.228 * [backup-simplify]: Simplify (- 0) into 0 26.228 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.228 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.229 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.229 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.229 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.229 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.229 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.229 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.229 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.229 * [backup-simplify]: Simplify (- 0) into 0 26.229 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.229 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.229 * [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)))) 26.230 * [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))))) 26.230 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.230 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.230 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.230 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.230 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.230 * [backup-simplify]: Simplify (- 0) into 0 26.230 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.230 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.230 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.231 * [backup-simplify]: Simplify (- 0) into 0 26.231 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.231 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.231 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.231 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.231 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.231 * [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)))) 26.231 * [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))))) 26.232 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.232 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.233 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.235 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 26.238 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 26.240 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.242 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.243 * [backup-simplify]: Simplify (+ 0) into 0 26.243 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.243 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.244 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.244 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.245 * [backup-simplify]: Simplify (- 0) into 0 26.245 * [backup-simplify]: Simplify (+ 0 0) into 0 26.245 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.245 * [backup-simplify]: Simplify (+ 0) into 0 26.246 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.246 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.246 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.246 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.247 * [backup-simplify]: Simplify (- 0) into 0 26.247 * [backup-simplify]: Simplify (+ 0 0) into 0 26.247 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.247 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.248 * [backup-simplify]: Simplify (+ 0) into 0 26.248 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.248 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.249 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.249 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.249 * [backup-simplify]: Simplify (+ 0 0) into 0 26.250 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.250 * [backup-simplify]: Simplify (+ 0) into 0 26.250 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.250 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.251 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.251 * [backup-simplify]: Simplify (+ 0 0) into 0 26.252 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.252 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.252 * [backup-simplify]: Simplify (+ 0 0) into 0 26.252 * [backup-simplify]: Simplify (+ 0) into 0 26.253 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.253 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.254 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.254 * [backup-simplify]: Simplify (- 0) into 0 26.254 * [backup-simplify]: Simplify (+ 0 0) into 0 26.254 * [backup-simplify]: Simplify (+ 0) into 0 26.255 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.255 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.256 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.256 * [backup-simplify]: Simplify (+ 0 0) into 0 26.256 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.256 * [backup-simplify]: Simplify (+ 0) into 0 26.257 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.257 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.258 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.258 * [backup-simplify]: Simplify (+ 0 0) into 0 26.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.258 * [backup-simplify]: Simplify (+ 0) into 0 26.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.259 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.260 * [backup-simplify]: Simplify (- 0) into 0 26.260 * [backup-simplify]: Simplify (+ 0 0) into 0 26.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.261 * [backup-simplify]: Simplify (+ 0) into 0 26.261 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.261 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.262 * [backup-simplify]: Simplify (+ 0 0) into 0 26.262 * [backup-simplify]: Simplify (+ 0) into 0 26.263 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.263 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.263 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.264 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.264 * [backup-simplify]: Simplify (- 0) into 0 26.264 * [backup-simplify]: Simplify (+ 0 0) into 0 26.264 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.265 * [backup-simplify]: Simplify (+ 0) into 0 26.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.265 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.266 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.266 * [backup-simplify]: Simplify (- 0) into 0 26.266 * [backup-simplify]: Simplify (+ 0 0) into 0 26.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.267 * [backup-simplify]: Simplify (+ 0) into 0 26.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.267 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.268 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.268 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.268 * [backup-simplify]: Simplify (+ 0 0) into 0 26.268 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.269 * [backup-simplify]: Simplify (+ 0 0) into 0 26.269 * [backup-simplify]: Simplify (- 0) into 0 26.269 * [backup-simplify]: Simplify (+ 0 0) into 0 26.271 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 26.274 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 26.281 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 26.285 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 26.285 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))))))))))))) in lambda2 26.286 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 26.286 * [taylor]: Taking taylor expansion of 1/2 in lambda2 26.286 * [backup-simplify]: Simplify 1/2 into 1/2 26.286 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 26.287 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 26.287 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 26.287 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.287 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.287 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.287 * [backup-simplify]: Simplify -0.5 into -0.5 26.287 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.287 * [backup-simplify]: Simplify phi2 into phi2 26.287 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.287 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.287 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.287 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 26.287 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.287 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.287 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.287 * [backup-simplify]: Simplify -0.5 into -0.5 26.287 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.287 * [backup-simplify]: Simplify phi1 into phi1 26.287 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.287 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.287 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.287 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 26.288 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.288 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.288 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.288 * [backup-simplify]: Simplify -0.5 into -0.5 26.288 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.288 * [backup-simplify]: Simplify phi2 into phi2 26.288 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.288 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.288 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.288 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.288 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.288 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.288 * [backup-simplify]: Simplify -0.5 into -0.5 26.288 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.288 * [backup-simplify]: Simplify phi1 into phi1 26.288 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.288 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.288 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.288 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 26.288 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 26.288 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.288 * [backup-simplify]: Simplify phi1 into phi1 26.288 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 26.289 * [taylor]: Taking taylor expansion of R in lambda2 26.289 * [backup-simplify]: Simplify R into R 26.289 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 26.289 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 26.289 * [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 26.289 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.289 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.289 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.289 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.289 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.289 * [backup-simplify]: Simplify -0.5 into -0.5 26.289 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (cos (/ -0.5 phi2)) into (cos (/ -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)) 1) into (cos (/ -0.5 phi2)) 26.289 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.290 * [backup-simplify]: Simplify (- 0) into 0 26.290 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.290 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.290 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.290 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.291 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.291 * [backup-simplify]: Simplify -0.5 into -0.5 26.291 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.291 * [backup-simplify]: Simplify phi1 into phi1 26.291 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.291 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.291 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.291 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.291 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.291 * [backup-simplify]: Simplify (- 0) into 0 26.292 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.292 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.292 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.292 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.292 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.292 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.292 * [backup-simplify]: Simplify -0.5 into -0.5 26.292 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.292 * [backup-simplify]: Simplify phi2 into phi2 26.292 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.292 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.292 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.292 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.292 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.292 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.292 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.292 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.292 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.292 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.292 * [backup-simplify]: Simplify -0.5 into -0.5 26.292 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.292 * [backup-simplify]: Simplify phi1 into phi1 26.292 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.292 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.292 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.293 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.293 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.293 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.293 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 26.293 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.293 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.293 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.293 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.293 * [backup-simplify]: Simplify -0.5 into -0.5 26.293 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.293 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.293 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.293 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.293 * [backup-simplify]: Simplify -0.5 into -0.5 26.293 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.293 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.293 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.293 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.293 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.293 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.293 * [backup-simplify]: Simplify -0.5 into -0.5 26.293 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.293 * [backup-simplify]: Simplify phi1 into phi1 26.293 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.293 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.294 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.294 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.294 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.294 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.294 * [backup-simplify]: Simplify -0.5 into -0.5 26.294 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.294 * [backup-simplify]: Simplify phi1 into phi1 26.294 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.294 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.294 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.294 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.294 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.294 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.294 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.294 * [backup-simplify]: Simplify -0.5 into -0.5 26.294 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.294 * [backup-simplify]: Simplify phi2 into phi2 26.294 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.294 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.294 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.294 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.294 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.294 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.294 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.294 * [backup-simplify]: Simplify -0.5 into -0.5 26.294 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.294 * [backup-simplify]: Simplify phi2 into phi2 26.294 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.294 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.294 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.294 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.294 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.294 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.294 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.294 * [backup-simplify]: Simplify -0.5 into -0.5 26.294 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.294 * [backup-simplify]: Simplify phi1 into phi1 26.294 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.295 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.295 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.295 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.295 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.295 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.295 * [backup-simplify]: Simplify -0.5 into -0.5 26.295 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.295 * [backup-simplify]: Simplify phi1 into phi1 26.295 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.295 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.295 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.295 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.295 * [backup-simplify]: Simplify 0 into 0 26.295 * [backup-simplify]: Simplify 1 into 1 26.295 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.295 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.295 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.295 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.295 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.295 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.295 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.295 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.296 * [backup-simplify]: Simplify (- 0) into 0 26.296 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.296 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.296 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.296 * [backup-simplify]: Simplify (- 0) into 0 26.296 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.296 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 26.296 * [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)))) 26.297 * [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))))) 26.297 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 26.297 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.297 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.297 * [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)) 26.297 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.297 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.298 * [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)) 26.298 * [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))) 26.298 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.298 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.298 * [backup-simplify]: Simplify (- 0) into 0 26.299 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.299 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.299 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.299 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.299 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.299 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.299 * [backup-simplify]: Simplify (- 0) into 0 26.299 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.299 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.299 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.299 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.299 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.300 * [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)))) 26.300 * [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))))) 26.300 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.300 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.300 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.300 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.300 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.300 * [backup-simplify]: Simplify (- 0) into 0 26.300 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.300 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.301 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.301 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.301 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.301 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.301 * [backup-simplify]: Simplify (- 0) into 0 26.301 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.301 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.301 * [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)))) 26.301 * [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))))) 26.302 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.302 * [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))))))) 26.303 * [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))))))) 26.304 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 26.305 * [backup-simplify]: Simplify (* R 0) into 0 26.305 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0 26.305 * [backup-simplify]: Simplify (+ 0) into 0 26.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.305 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.306 * [backup-simplify]: Simplify (- 0) into 0 26.307 * [backup-simplify]: Simplify (+ 0 0) into 0 26.307 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.307 * [backup-simplify]: Simplify (+ 0) into 0 26.307 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.308 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.308 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.309 * [backup-simplify]: Simplify (- 0) into 0 26.309 * [backup-simplify]: Simplify (+ 0 0) into 0 26.309 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.309 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.309 * [backup-simplify]: Simplify (+ 0) into 0 26.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.310 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.310 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.311 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.311 * [backup-simplify]: Simplify (+ 0 0) into 0 26.311 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.311 * [backup-simplify]: Simplify (+ 0) into 0 26.312 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.312 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.313 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.313 * [backup-simplify]: Simplify (+ 0 0) into 0 26.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.313 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.314 * [backup-simplify]: Simplify (+ 0 0) into 0 26.314 * [backup-simplify]: Simplify (+ 0) into 0 26.314 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.314 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.315 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.315 * [backup-simplify]: Simplify (+ 0 0) into 0 26.316 * [backup-simplify]: Simplify (+ 0) into 0 26.316 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.316 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.317 * [backup-simplify]: Simplify (- 0) into 0 26.317 * [backup-simplify]: Simplify (+ 0 0) into 0 26.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.318 * [backup-simplify]: Simplify (+ 0) into 0 26.318 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.318 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.319 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.319 * [backup-simplify]: Simplify (+ 0 0) into 0 26.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.320 * [backup-simplify]: Simplify (+ 0) into 0 26.320 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.320 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.321 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.321 * [backup-simplify]: Simplify (- 0) into 0 26.322 * [backup-simplify]: Simplify (+ 0 0) into 0 26.322 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.322 * [backup-simplify]: Simplify (+ 0) into 0 26.322 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.322 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.323 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.323 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.324 * [backup-simplify]: Simplify (- 0) into 0 26.324 * [backup-simplify]: Simplify (+ 0 0) into 0 26.330 * [backup-simplify]: Simplify (+ 0) into 0 26.331 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.331 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.332 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.332 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.333 * [backup-simplify]: Simplify (+ 0 0) into 0 26.333 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.333 * [backup-simplify]: Simplify (+ 0) into 0 26.334 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.334 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.335 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.336 * [backup-simplify]: Simplify (- 0) into 0 26.336 * [backup-simplify]: Simplify (+ 0 0) into 0 26.337 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.337 * [backup-simplify]: Simplify (+ 0) into 0 26.338 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.338 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.339 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.339 * [backup-simplify]: Simplify (+ 0 0) into 0 26.340 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.340 * [backup-simplify]: Simplify (+ 0 0) into 0 26.340 * [backup-simplify]: Simplify (- 0) into 0 26.341 * [backup-simplify]: Simplify (+ 0 0) into 0 26.343 * [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))))))) 1) (* 0 0)) 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))))))) 26.346 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 26.346 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 26.349 * [backup-simplify]: Simplify (+ (* (pow phi1 2) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) 26.353 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) into (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) 26.353 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 26.353 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 26.353 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 26.353 * [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 26.353 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.353 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.353 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.353 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.353 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.353 * [backup-simplify]: Simplify -0.5 into -0.5 26.353 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.353 * [backup-simplify]: Simplify phi2 into phi2 26.353 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.354 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.354 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.354 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.354 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.354 * [backup-simplify]: Simplify (- 0) into 0 26.354 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.354 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.354 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.355 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.355 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.355 * [backup-simplify]: Simplify -0.5 into -0.5 26.355 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.355 * [backup-simplify]: Simplify phi1 into phi1 26.355 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.355 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.355 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.355 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.355 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.355 * [backup-simplify]: Simplify (- 0) into 0 26.356 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.356 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.356 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.356 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.356 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.356 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.356 * [backup-simplify]: Simplify -0.5 into -0.5 26.356 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.356 * [backup-simplify]: Simplify phi2 into phi2 26.356 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.356 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.356 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.356 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.356 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.356 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.356 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.356 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.356 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.357 * [backup-simplify]: Simplify -0.5 into -0.5 26.357 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.357 * [backup-simplify]: Simplify phi1 into phi1 26.357 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.357 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.357 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.357 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.357 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.357 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.357 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 26.357 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.357 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.357 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.357 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.357 * [backup-simplify]: Simplify -0.5 into -0.5 26.357 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.357 * [backup-simplify]: Simplify phi2 into phi2 26.357 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.358 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.358 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.358 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.358 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.358 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.358 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.358 * [backup-simplify]: Simplify -0.5 into -0.5 26.358 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.358 * [backup-simplify]: Simplify phi2 into phi2 26.358 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.358 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.358 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.358 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.358 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.358 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.358 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.358 * [backup-simplify]: Simplify -0.5 into -0.5 26.358 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.358 * [backup-simplify]: Simplify phi1 into phi1 26.358 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.358 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.358 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.358 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.358 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.359 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.359 * [backup-simplify]: Simplify -0.5 into -0.5 26.359 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.359 * [backup-simplify]: Simplify phi1 into phi1 26.359 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.359 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.359 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.359 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.359 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.359 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.359 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.359 * [backup-simplify]: Simplify -0.5 into -0.5 26.359 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.359 * [backup-simplify]: Simplify phi2 into phi2 26.359 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.359 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.359 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.359 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.359 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.359 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.359 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.359 * [backup-simplify]: Simplify -0.5 into -0.5 26.360 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.360 * [backup-simplify]: Simplify phi2 into phi2 26.360 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.360 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.360 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.360 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.360 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.360 * [backup-simplify]: Simplify -0.5 into -0.5 26.360 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.360 * [backup-simplify]: Simplify phi1 into phi1 26.360 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.360 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.360 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.360 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.360 * [backup-simplify]: Simplify -0.5 into -0.5 26.360 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.360 * [backup-simplify]: Simplify phi1 into phi1 26.360 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.361 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.361 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.361 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.361 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.361 * [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)) 26.361 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.362 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.362 * [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)) 26.363 * [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))) 26.363 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.363 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.363 * [backup-simplify]: Simplify (- 0) into 0 26.364 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.364 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.364 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.364 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.364 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.364 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.364 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.364 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.364 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.365 * [backup-simplify]: Simplify (- 0) into 0 26.365 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.365 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.365 * [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)))) 26.366 * [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))))) 26.366 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.366 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.366 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.366 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.366 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.367 * [backup-simplify]: Simplify (- 0) into 0 26.367 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.367 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.367 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.367 * [backup-simplify]: Simplify (- 0) into 0 26.368 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.368 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.368 * [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)))) 26.369 * [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))))) 26.369 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.370 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.372 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.374 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 26.376 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.377 * [backup-simplify]: Simplify (+ 0) into 0 26.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.377 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.379 * [backup-simplify]: Simplify (- 0) into 0 26.379 * [backup-simplify]: Simplify (+ 0 0) into 0 26.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.380 * [backup-simplify]: Simplify (+ 0) into 0 26.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.381 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.382 * [backup-simplify]: Simplify (- 0) into 0 26.383 * [backup-simplify]: Simplify (+ 0 0) into 0 26.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.383 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.384 * [backup-simplify]: Simplify (+ 0) into 0 26.384 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.384 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.385 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.386 * [backup-simplify]: Simplify (+ 0 0) into 0 26.386 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.386 * [backup-simplify]: Simplify (+ 0) into 0 26.387 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.387 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.388 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.389 * [backup-simplify]: Simplify (+ 0 0) into 0 26.389 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.389 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.390 * [backup-simplify]: Simplify (+ 0 0) into 0 26.390 * [backup-simplify]: Simplify (+ 0) into 0 26.391 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.391 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.392 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.392 * [backup-simplify]: Simplify (- 0) into 0 26.393 * [backup-simplify]: Simplify (+ 0 0) into 0 26.393 * [backup-simplify]: Simplify (+ 0) into 0 26.394 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.394 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.395 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.395 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.395 * [backup-simplify]: Simplify (+ 0 0) into 0 26.396 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.396 * [backup-simplify]: Simplify (+ 0) into 0 26.397 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.397 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.398 * [backup-simplify]: Simplify (+ 0 0) into 0 26.399 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.399 * [backup-simplify]: Simplify (+ 0) into 0 26.400 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.400 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.402 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.402 * [backup-simplify]: Simplify (- 0) into 0 26.402 * [backup-simplify]: Simplify (+ 0 0) into 0 26.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.403 * [backup-simplify]: Simplify (+ 0) into 0 26.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.403 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.404 * [backup-simplify]: Simplify (+ 0 0) into 0 26.404 * [backup-simplify]: Simplify (+ 0) into 0 26.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.405 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.405 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.406 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.406 * [backup-simplify]: Simplify (- 0) into 0 26.406 * [backup-simplify]: Simplify (+ 0 0) into 0 26.406 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.406 * [backup-simplify]: Simplify (+ 0) into 0 26.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.407 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.408 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.408 * [backup-simplify]: Simplify (- 0) into 0 26.408 * [backup-simplify]: Simplify (+ 0 0) into 0 26.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.409 * [backup-simplify]: Simplify (+ 0) into 0 26.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.409 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.410 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.410 * [backup-simplify]: Simplify (+ 0 0) into 0 26.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.411 * [backup-simplify]: Simplify (+ 0 0) into 0 26.411 * [backup-simplify]: Simplify (- 0) into 0 26.411 * [backup-simplify]: Simplify (+ 0 0) into 0 26.414 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.415 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.415 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))))))))))) in lambda2 26.415 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 26.415 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))))) in lambda2 26.415 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) in lambda2 26.416 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.416 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.416 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.416 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.416 * [backup-simplify]: Simplify -0.5 into -0.5 26.416 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.416 * [backup-simplify]: Simplify phi1 into phi1 26.416 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.416 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.416 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.416 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.416 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.416 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.416 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.416 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.416 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.416 * [backup-simplify]: Simplify -0.5 into -0.5 26.416 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.416 * [backup-simplify]: Simplify phi2 into phi2 26.416 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.416 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.416 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.416 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.417 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.417 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 26.417 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.417 * [backup-simplify]: Simplify phi2 into phi2 26.417 * [taylor]: Taking taylor expansion of (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 26.417 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.417 * [backup-simplify]: Simplify phi1 into phi1 26.417 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 26.417 * [taylor]: Taking taylor expansion of R in lambda2 26.417 * [backup-simplify]: Simplify R into R 26.417 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 26.417 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 26.417 * [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 26.417 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.417 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.417 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.417 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.417 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.417 * [backup-simplify]: Simplify -0.5 into -0.5 26.417 * [taylor]: Taking taylor expansion of phi2 in lambda2 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)) 26.417 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.417 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.417 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.418 * [backup-simplify]: Simplify (- 0) into 0 26.418 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.418 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.418 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.418 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.418 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.418 * [backup-simplify]: Simplify -0.5 into -0.5 26.418 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.418 * [backup-simplify]: Simplify phi1 into phi1 26.418 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.418 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.418 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 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 26.419 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.419 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.419 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.419 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.419 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.419 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.419 * [backup-simplify]: Simplify -0.5 into -0.5 26.419 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.419 * [backup-simplify]: Simplify phi2 into phi2 26.419 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.419 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.419 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.419 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.419 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.419 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.419 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.419 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.419 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.419 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.419 * [backup-simplify]: Simplify -0.5 into -0.5 26.419 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.419 * [backup-simplify]: Simplify phi1 into phi1 26.419 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.419 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.419 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.419 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.419 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.419 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.419 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 26.420 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.420 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.420 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.420 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.420 * [backup-simplify]: Simplify -0.5 into -0.5 26.420 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.420 * [backup-simplify]: Simplify phi2 into phi2 26.420 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.420 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.420 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.420 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.420 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.420 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.420 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.420 * [backup-simplify]: Simplify -0.5 into -0.5 26.420 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.420 * [backup-simplify]: Simplify phi2 into phi2 26.420 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.420 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.420 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.420 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.420 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.420 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.420 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.420 * [backup-simplify]: Simplify -0.5 into -0.5 26.420 * [taylor]: Taking taylor expansion of phi1 in lambda2 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)) in lambda2 26.420 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.420 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.420 * [backup-simplify]: Simplify -0.5 into -0.5 26.420 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.420 * [backup-simplify]: Simplify phi1 into phi1 26.420 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.421 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.421 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.421 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.421 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.421 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.421 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.421 * [backup-simplify]: Simplify -0.5 into -0.5 26.421 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (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)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.421 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.421 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.421 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.421 * [backup-simplify]: Simplify -0.5 into -0.5 26.421 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.421 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.421 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.421 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.421 * [backup-simplify]: Simplify -0.5 into -0.5 26.421 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.421 * [backup-simplify]: Simplify phi1 into phi1 26.421 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.421 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.421 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.421 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.421 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.421 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.421 * [backup-simplify]: Simplify -0.5 into -0.5 26.422 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.422 * [backup-simplify]: Simplify phi1 into phi1 26.422 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.422 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.422 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.422 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.422 * [backup-simplify]: Simplify 0 into 0 26.422 * [backup-simplify]: Simplify 1 into 1 26.422 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.422 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.422 * [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)) 26.422 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.422 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.423 * [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)) 26.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.423 * [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)) 26.423 * [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))) 26.424 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.424 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.424 * [backup-simplify]: Simplify (- 0) into 0 26.424 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.424 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.424 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.424 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.424 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.424 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.425 * [backup-simplify]: Simplify (- 0) into 0 26.425 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.425 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.425 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.425 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.425 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.425 * [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)))) 26.425 * [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))))) 26.425 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.425 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.426 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.426 * [backup-simplify]: Simplify (- 0) into 0 26.426 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.426 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.427 * [backup-simplify]: Simplify (- 0) into 0 26.427 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.427 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.427 * [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)))) 26.427 * [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))))) 26.428 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.428 * [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))))))) 26.429 * [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))))))) 26.430 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 26.430 * [backup-simplify]: Simplify (* R 0) into 0 26.430 * [backup-simplify]: Simplify (* phi1 0) into 0 26.430 * [backup-simplify]: Simplify (* phi2 0) into 0 26.431 * [backup-simplify]: Simplify (+ 0) into 0 26.431 * [backup-simplify]: Simplify (+ (* (cos (/ -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 (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.432 * [backup-simplify]: Simplify (- 0) into 0 26.433 * [backup-simplify]: Simplify (+ 0 0) into 0 26.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.433 * [backup-simplify]: Simplify (+ 0) into 0 26.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.433 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.434 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.435 * [backup-simplify]: Simplify (- 0) into 0 26.435 * [backup-simplify]: Simplify (+ 0 0) into 0 26.435 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.435 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.435 * [backup-simplify]: Simplify (+ 0) into 0 26.436 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.436 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.437 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.437 * [backup-simplify]: Simplify (+ 0 0) into 0 26.437 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.437 * [backup-simplify]: Simplify (+ 0) into 0 26.438 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.438 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.439 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.439 * [backup-simplify]: Simplify (+ 0 0) into 0 26.439 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.440 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.440 * [backup-simplify]: Simplify (+ 0 0) into 0 26.440 * [backup-simplify]: Simplify (+ 0) into 0 26.440 * [backup-simplify]: Simplify (+ (* (sin (/ -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 (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.442 * [backup-simplify]: Simplify (+ 0 0) into 0 26.442 * [backup-simplify]: Simplify (+ 0) into 0 26.442 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.443 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.443 * [backup-simplify]: Simplify (- 0) into 0 26.444 * [backup-simplify]: Simplify (+ 0 0) into 0 26.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.444 * [backup-simplify]: Simplify (+ 0) into 0 26.444 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.445 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.445 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.446 * [backup-simplify]: Simplify (+ 0 0) into 0 26.446 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.446 * [backup-simplify]: Simplify (+ 0) into 0 26.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.447 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.448 * [backup-simplify]: Simplify (- 0) into 0 26.448 * [backup-simplify]: Simplify (+ 0 0) into 0 26.448 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.448 * [backup-simplify]: Simplify (+ 0) into 0 26.449 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.449 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.449 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.450 * [backup-simplify]: Simplify (- 0) into 0 26.450 * [backup-simplify]: Simplify (+ 0 0) into 0 26.451 * [backup-simplify]: Simplify (+ 0) into 0 26.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.451 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.452 * [backup-simplify]: Simplify (+ 0 0) into 0 26.453 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.453 * [backup-simplify]: Simplify (+ 0) into 0 26.453 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.453 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.454 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.454 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.455 * [backup-simplify]: Simplify (- 0) into 0 26.455 * [backup-simplify]: Simplify (+ 0 0) into 0 26.455 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.455 * [backup-simplify]: Simplify (+ 0) into 0 26.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.456 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.457 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.457 * [backup-simplify]: Simplify (+ 0 0) into 0 26.457 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.458 * [backup-simplify]: Simplify (+ 0 0) into 0 26.458 * [backup-simplify]: Simplify (- 0) into 0 26.458 * [backup-simplify]: Simplify (+ 0 0) into 0 26.460 * [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))))))) 1) (* 0 0)) 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))))))) 26.466 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 26.468 * [backup-simplify]: Simplify (+ (* phi1 (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) 26.470 * [backup-simplify]: Simplify (+ (* phi2 (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (* 0 0)) into (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 26.472 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 26.473 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 26.473 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 26.473 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 26.473 * [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 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 26.473 * [backup-simplify]: Simplify -0.5 into -0.5 26.473 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.473 * [backup-simplify]: Simplify phi2 into phi2 26.473 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.473 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.473 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.473 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.473 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.474 * [backup-simplify]: Simplify (- 0) into 0 26.474 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.474 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.474 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.474 * [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 phi1 in lambda2 26.474 * [backup-simplify]: Simplify phi1 into phi1 26.474 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.474 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.474 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.474 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.474 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.474 * [backup-simplify]: Simplify (- 0) into 0 26.474 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.474 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.474 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.474 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.475 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) 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 phi2 in lambda2 26.475 * [backup-simplify]: Simplify phi2 into phi2 26.475 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.475 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.475 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.475 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.475 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.475 * [taylor]: Taking taylor expansion of (sin (/ -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 (sin (/ -0.5 phi1)) into (sin (/ -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)) 1) into (sin (/ -0.5 phi1)) 26.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.475 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.475 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 26.475 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.475 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.475 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.476 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.476 * [backup-simplify]: Simplify -0.5 into -0.5 26.476 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.476 * [backup-simplify]: Simplify phi2 into phi2 26.476 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.476 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.476 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.476 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.476 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.476 * [backup-simplify]: Simplify -0.5 into -0.5 26.476 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.476 * [backup-simplify]: Simplify phi2 into phi2 26.476 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.476 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.476 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.476 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.476 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.476 * [backup-simplify]: Simplify -0.5 into -0.5 26.476 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.476 * [backup-simplify]: Simplify phi1 into phi1 26.476 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.476 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.476 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.476 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.476 * [backup-simplify]: Simplify -0.5 into -0.5 26.476 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.476 * [backup-simplify]: Simplify phi1 into phi1 26.476 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.476 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.477 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.477 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.477 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.477 * [backup-simplify]: Simplify -0.5 into -0.5 26.477 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.477 * [backup-simplify]: Simplify phi2 into phi2 26.477 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.477 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.477 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.477 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.477 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.477 * [backup-simplify]: Simplify -0.5 into -0.5 26.477 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.477 * [backup-simplify]: Simplify phi2 into phi2 26.477 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.477 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.477 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.477 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.477 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.477 * [backup-simplify]: Simplify -0.5 into -0.5 26.477 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.477 * [backup-simplify]: Simplify phi1 into phi1 26.477 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.477 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.477 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.477 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.477 * [backup-simplify]: Simplify -0.5 into -0.5 26.477 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.477 * [backup-simplify]: Simplify phi1 into phi1 26.477 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.478 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.478 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.478 * [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)) 26.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.478 * [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)) 26.479 * [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))) 26.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.479 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.479 * [backup-simplify]: Simplify (- 0) into 0 26.480 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.480 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.480 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.480 * [backup-simplify]: Simplify (- 0) into 0 26.480 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.481 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.481 * [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)))) 26.481 * [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))))) 26.481 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.481 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.481 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.481 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.481 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.482 * [backup-simplify]: Simplify (- 0) into 0 26.482 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.482 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.482 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.482 * [backup-simplify]: Simplify (- 0) into 0 26.482 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.482 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.483 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.483 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.483 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.483 * [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)))) 26.483 * [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))))) 26.484 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.485 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.487 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.489 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 26.492 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.493 * [backup-simplify]: Simplify (+ 0) into 0 26.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.494 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.496 * [backup-simplify]: Simplify (- 0) into 0 26.496 * [backup-simplify]: Simplify (+ 0 0) into 0 26.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.497 * [backup-simplify]: Simplify (+ 0) into 0 26.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.498 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.499 * [backup-simplify]: Simplify (- 0) into 0 26.500 * [backup-simplify]: Simplify (+ 0 0) into 0 26.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.500 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.501 * [backup-simplify]: Simplify (+ 0) into 0 26.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.502 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.504 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.504 * [backup-simplify]: Simplify (+ 0 0) into 0 26.504 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.505 * [backup-simplify]: Simplify (+ 0) into 0 26.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.505 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.507 * [backup-simplify]: Simplify (+ 0 0) into 0 26.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.508 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.508 * [backup-simplify]: Simplify (+ 0 0) into 0 26.509 * [backup-simplify]: Simplify (+ 0) into 0 26.509 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.511 * [backup-simplify]: Simplify (- 0) into 0 26.512 * [backup-simplify]: Simplify (+ 0 0) into 0 26.513 * [backup-simplify]: Simplify (+ 0) into 0 26.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.513 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.515 * [backup-simplify]: Simplify (+ 0 0) into 0 26.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.516 * [backup-simplify]: Simplify (+ 0) into 0 26.517 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.517 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.518 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.519 * [backup-simplify]: Simplify (+ 0 0) into 0 26.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.519 * [backup-simplify]: Simplify (+ 0) into 0 26.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.520 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.521 * [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 26.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.523 * [backup-simplify]: Simplify (+ 0) into 0 26.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.526 * [backup-simplify]: Simplify (+ 0 0) into 0 26.526 * [backup-simplify]: Simplify (+ 0) into 0 26.526 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.527 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.528 * [backup-simplify]: Simplify (- 0) into 0 26.529 * [backup-simplify]: Simplify (+ 0 0) into 0 26.529 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.529 * [backup-simplify]: Simplify (+ 0) into 0 26.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.530 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.532 * [backup-simplify]: Simplify (- 0) into 0 26.532 * [backup-simplify]: Simplify (+ 0 0) into 0 26.532 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.533 * [backup-simplify]: Simplify (+ 0) into 0 26.533 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.533 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.534 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.535 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.535 * [backup-simplify]: Simplify (+ 0 0) into 0 26.536 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.536 * [backup-simplify]: Simplify (+ 0 0) into 0 26.536 * [backup-simplify]: Simplify (- 0) into 0 26.537 * [backup-simplify]: Simplify (+ 0 0) into 0 26.541 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.543 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.544 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))))))))))) in lambda2 26.545 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 26.545 * [taylor]: Taking taylor expansion of 1/2 in lambda2 26.545 * [backup-simplify]: Simplify 1/2 into 1/2 26.545 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 26.545 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 26.545 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda2 26.545 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.545 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.545 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.545 * [backup-simplify]: Simplify -0.5 into -0.5 26.545 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.545 * [backup-simplify]: Simplify phi1 into phi1 26.545 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.545 * [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 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda2 26.546 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.546 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.546 * [backup-simplify]: Simplify -0.5 into -0.5 26.546 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.546 * [backup-simplify]: Simplify phi2 into phi2 26.546 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.546 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.546 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.546 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda2 26.546 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.546 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.546 * [backup-simplify]: Simplify -0.5 into -0.5 26.546 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.547 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.547 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.547 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.547 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.547 * [backup-simplify]: Simplify -0.5 into -0.5 26.547 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.547 * [backup-simplify]: Simplify phi2 into phi2 26.547 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.547 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.547 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.547 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 26.547 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 26.547 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.547 * [backup-simplify]: Simplify phi2 into phi2 26.547 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 26.547 * [taylor]: Taking taylor expansion of R in lambda2 26.547 * [backup-simplify]: Simplify R into R 26.547 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 26.547 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 26.547 * [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 26.548 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.548 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.548 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.548 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.548 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.548 * [backup-simplify]: Simplify -0.5 into -0.5 26.548 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 26.549 * [backup-simplify]: Simplify (- 0) into 0 26.549 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.549 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.549 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.549 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.549 * [backup-simplify]: Simplify -0.5 into -0.5 26.549 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.549 * [backup-simplify]: Simplify phi1 into phi1 26.549 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.549 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.550 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.550 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.550 * [backup-simplify]: Simplify (- 0) into 0 26.550 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.550 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.550 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.550 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.550 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.551 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.551 * [backup-simplify]: Simplify -0.5 into -0.5 26.551 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.551 * [backup-simplify]: Simplify phi2 into phi2 26.551 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.551 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.551 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.551 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.551 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.551 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.551 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.551 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.551 * [backup-simplify]: Simplify -0.5 into -0.5 26.551 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.551 * [backup-simplify]: Simplify phi1 into phi1 26.552 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.552 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.552 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.552 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.552 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 26.552 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.552 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.552 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.552 * [backup-simplify]: Simplify -0.5 into -0.5 26.552 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.552 * [backup-simplify]: Simplify phi2 into phi2 26.552 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.553 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.553 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.553 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.553 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.553 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.553 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.553 * [backup-simplify]: Simplify -0.5 into -0.5 26.553 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.553 * [backup-simplify]: Simplify phi2 into phi2 26.553 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.553 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.553 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.553 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.553 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.553 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.553 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.553 * [backup-simplify]: Simplify -0.5 into -0.5 26.553 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.553 * [backup-simplify]: Simplify phi1 into phi1 26.553 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.554 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.554 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.554 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.554 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.554 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.554 * [backup-simplify]: Simplify -0.5 into -0.5 26.554 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.554 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.554 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.554 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.554 * [backup-simplify]: Simplify -0.5 into -0.5 26.554 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.554 * [backup-simplify]: Simplify phi2 into phi2 26.554 * [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 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.555 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.555 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.555 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.555 * [backup-simplify]: Simplify -0.5 into -0.5 26.555 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (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 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.555 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.555 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.555 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.555 * [backup-simplify]: Simplify -0.5 into -0.5 26.555 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.555 * [backup-simplify]: Simplify phi1 into phi1 26.555 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.556 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.556 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.556 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.556 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.556 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.556 * [backup-simplify]: Simplify -0.5 into -0.5 26.556 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.556 * [backup-simplify]: Simplify phi1 into phi1 26.556 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.556 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.556 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.556 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.556 * [backup-simplify]: Simplify 0 into 0 26.556 * [backup-simplify]: Simplify 1 into 1 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 26.557 * [backup-simplify]: Simplify (- 0) into 0 26.557 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.557 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.558 * [backup-simplify]: Simplify (- 0) into 0 26.558 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.558 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.558 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.558 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.558 * [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 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 26.559 * [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)))) 26.560 * [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))))) 26.560 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 26.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.560 * [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)) 26.561 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.561 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.561 * [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)) 26.562 * [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))) 26.562 * [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 phi2)) 1) into (sin (/ -0.5 phi2)) 26.564 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.564 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.564 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.564 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.564 * [backup-simplify]: Simplify (- 0) into 0 26.564 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 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)) 26.565 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.565 * [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)))) 26.566 * [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))))) 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 phi2)) 1) into (cos (/ -0.5 phi2)) 26.566 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.567 * [backup-simplify]: Simplify (- 0) into 0 26.567 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.567 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.567 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.567 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.567 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.567 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.568 * [backup-simplify]: Simplify (- 0) into 0 26.568 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.568 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.568 * [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)))) 26.569 * [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))))) 26.570 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.571 * [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))))))) 26.573 * [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))) (- (+ (* (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))))))) 26.575 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 26.576 * [backup-simplify]: Simplify (* R 0) into 0 26.576 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 26.576 * [backup-simplify]: Simplify (+ 0) into 0 26.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.577 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.578 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.578 * [backup-simplify]: Simplify (- 0) into 0 26.578 * [backup-simplify]: Simplify (+ 0 0) into 0 26.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.579 * [backup-simplify]: Simplify (+ 0) into 0 26.579 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.579 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.580 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.580 * [backup-simplify]: Simplify (- 0) into 0 26.580 * [backup-simplify]: Simplify (+ 0 0) into 0 26.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.581 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.581 * [backup-simplify]: Simplify (+ 0) into 0 26.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.582 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.583 * [backup-simplify]: Simplify (+ 0 0) into 0 26.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.583 * [backup-simplify]: Simplify (+ 0) into 0 26.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.584 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.585 * [backup-simplify]: Simplify (+ 0 0) into 0 26.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.585 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.585 * [backup-simplify]: Simplify (+ 0 0) into 0 26.586 * [backup-simplify]: Simplify (+ 0) into 0 26.586 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.586 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.587 * [backup-simplify]: Simplify (+ 0 0) into 0 26.588 * [backup-simplify]: Simplify (+ 0) into 0 26.588 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.588 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.589 * [backup-simplify]: Simplify (- 0) into 0 26.589 * [backup-simplify]: Simplify (+ 0 0) into 0 26.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.590 * [backup-simplify]: Simplify (+ 0) into 0 26.590 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.591 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.591 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.591 * [backup-simplify]: Simplify (+ 0 0) into 0 26.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.592 * [backup-simplify]: Simplify (+ 0) into 0 26.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.592 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.593 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.593 * [backup-simplify]: Simplify (- 0) into 0 26.594 * [backup-simplify]: Simplify (+ 0 0) into 0 26.594 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.594 * [backup-simplify]: Simplify (+ 0) into 0 26.594 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.594 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.595 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.596 * [backup-simplify]: Simplify (- 0) into 0 26.596 * [backup-simplify]: Simplify (+ 0 0) into 0 26.596 * [backup-simplify]: Simplify (+ 0) into 0 26.596 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.597 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.597 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.598 * [backup-simplify]: Simplify (+ 0 0) into 0 26.598 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.598 * [backup-simplify]: Simplify (+ 0) into 0 26.598 * [backup-simplify]: Simplify (+ (* (cos (/ -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 26.599 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.600 * [backup-simplify]: Simplify (- 0) into 0 26.600 * [backup-simplify]: Simplify (+ 0 0) into 0 26.600 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.600 * [backup-simplify]: Simplify (+ 0) into 0 26.601 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.601 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.602 * [backup-simplify]: Simplify (+ 0 0) into 0 26.602 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.602 * [backup-simplify]: Simplify (+ 0 0) into 0 26.602 * [backup-simplify]: Simplify (- 0) into 0 26.603 * [backup-simplify]: Simplify (+ 0 0) into 0 26.604 * [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))))))) 1) (* 0 0)) 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))))))) 26.607 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 26.608 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 26.611 * [backup-simplify]: Simplify (+ (* (pow phi2 2) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) 26.615 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) 26.615 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 26.615 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 26.615 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 26.615 * [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 26.615 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.615 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.615 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.615 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.615 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.615 * [backup-simplify]: Simplify -0.5 into -0.5 26.615 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.615 * [backup-simplify]: Simplify phi2 into phi2 26.616 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.616 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.616 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.616 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.616 * [backup-simplify]: Simplify (- 0) into 0 26.617 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.617 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.617 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.617 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.617 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.617 * [backup-simplify]: Simplify -0.5 into -0.5 26.617 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.617 * [backup-simplify]: Simplify phi1 into phi1 26.617 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.617 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.617 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.617 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.617 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.618 * [backup-simplify]: Simplify (- 0) into 0 26.618 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.618 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.618 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.618 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.618 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.618 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.618 * [backup-simplify]: Simplify -0.5 into -0.5 26.618 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.618 * [backup-simplify]: Simplify phi2 into phi2 26.618 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.618 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.618 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.618 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.618 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.618 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.619 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.619 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.619 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.619 * [backup-simplify]: Simplify -0.5 into -0.5 26.619 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.619 * [backup-simplify]: Simplify phi1 into phi1 26.619 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.619 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.619 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.619 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.619 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.619 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.619 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 26.619 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.619 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.619 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.619 * [backup-simplify]: Simplify -0.5 into -0.5 26.619 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.619 * [backup-simplify]: Simplify phi2 into phi2 26.620 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.620 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.620 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.620 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.620 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.620 * [backup-simplify]: Simplify -0.5 into -0.5 26.620 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.620 * [backup-simplify]: Simplify phi2 into phi2 26.620 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.620 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.620 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.620 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.620 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.620 * [backup-simplify]: Simplify -0.5 into -0.5 26.620 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.620 * [backup-simplify]: Simplify phi1 into phi1 26.620 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.621 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.621 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.621 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.621 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.621 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.621 * [backup-simplify]: Simplify -0.5 into -0.5 26.621 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.621 * [backup-simplify]: Simplify phi1 into phi1 26.621 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.621 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.621 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.621 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.621 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.621 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.621 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.621 * [backup-simplify]: Simplify -0.5 into -0.5 26.621 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.621 * [backup-simplify]: Simplify phi2 into phi2 26.621 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.621 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.621 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.621 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.621 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.622 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.622 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.622 * [backup-simplify]: Simplify -0.5 into -0.5 26.622 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.622 * [backup-simplify]: Simplify phi2 into phi2 26.622 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.622 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.622 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.622 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.622 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.622 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.622 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.622 * [backup-simplify]: Simplify -0.5 into -0.5 26.622 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.622 * [backup-simplify]: Simplify phi1 into phi1 26.622 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.622 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.622 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.622 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.622 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.622 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.622 * [backup-simplify]: Simplify -0.5 into -0.5 26.622 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.622 * [backup-simplify]: Simplify phi1 into phi1 26.622 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.623 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.623 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.623 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.623 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.623 * [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)) 26.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.624 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.624 * [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)) 26.625 * [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))) 26.625 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.625 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.631 * [backup-simplify]: Simplify (- 0) into 0 26.631 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.632 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.632 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.633 * [backup-simplify]: Simplify (- 0) into 0 26.633 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.633 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.634 * [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)))) 26.634 * [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))))) 26.634 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.634 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.634 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.634 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.634 * [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 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.635 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.636 * [backup-simplify]: Simplify (- 0) into 0 26.636 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.636 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.636 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.636 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.636 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.636 * [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)))) 26.637 * [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))))) 26.637 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.638 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.640 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.642 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 26.644 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.645 * [backup-simplify]: Simplify (+ 0) into 0 26.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.645 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.647 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.647 * [backup-simplify]: Simplify (- 0) into 0 26.648 * [backup-simplify]: Simplify (+ 0 0) into 0 26.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.648 * [backup-simplify]: Simplify (+ 0) into 0 26.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.649 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.651 * [backup-simplify]: Simplify (- 0) into 0 26.651 * [backup-simplify]: Simplify (+ 0 0) into 0 26.651 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.652 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.652 * [backup-simplify]: Simplify (+ 0) into 0 26.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.653 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.654 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.654 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.655 * [backup-simplify]: Simplify (+ 0 0) into 0 26.655 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.655 * [backup-simplify]: Simplify (+ 0) into 0 26.656 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.656 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.658 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.659 * [backup-simplify]: Simplify (+ 0 0) into 0 26.659 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.659 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.660 * [backup-simplify]: Simplify (+ 0 0) into 0 26.660 * [backup-simplify]: Simplify (+ 0) into 0 26.661 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.661 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.662 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.663 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.664 * [backup-simplify]: Simplify (- 0) into 0 26.664 * [backup-simplify]: Simplify (+ 0 0) into 0 26.665 * [backup-simplify]: Simplify (+ 0) into 0 26.665 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.665 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.666 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.666 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.667 * [backup-simplify]: Simplify (+ 0 0) into 0 26.667 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.667 * [backup-simplify]: Simplify (+ 0) into 0 26.668 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.668 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.669 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.669 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.670 * [backup-simplify]: Simplify (+ 0 0) into 0 26.670 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.670 * [backup-simplify]: Simplify (+ 0) into 0 26.671 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.671 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.672 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.672 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.673 * [backup-simplify]: Simplify (- 0) into 0 26.673 * [backup-simplify]: Simplify (+ 0 0) into 0 26.673 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.674 * [backup-simplify]: Simplify (+ 0) into 0 26.674 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.675 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.675 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.676 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.676 * [backup-simplify]: Simplify (+ 0 0) into 0 26.677 * [backup-simplify]: Simplify (+ 0) into 0 26.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.677 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.678 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.679 * [backup-simplify]: Simplify (- 0) into 0 26.680 * [backup-simplify]: Simplify (+ 0 0) into 0 26.680 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.680 * [backup-simplify]: Simplify (+ 0) into 0 26.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.681 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.682 * [backup-simplify]: Simplify (- 0) into 0 26.683 * [backup-simplify]: Simplify (+ 0 0) into 0 26.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.684 * [backup-simplify]: Simplify (+ 0) into 0 26.684 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.684 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.685 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.686 * [backup-simplify]: Simplify (+ 0 0) into 0 26.686 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.687 * [backup-simplify]: Simplify (+ 0 0) into 0 26.687 * [backup-simplify]: Simplify (- 0) into 0 26.687 * [backup-simplify]: Simplify (+ 0 0) into 0 26.691 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.693 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.693 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))))))))) in lambda2 26.694 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 26.694 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))))) in lambda2 26.694 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) in lambda2 26.694 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.694 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.694 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.694 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.694 * [backup-simplify]: Simplify -0.5 into -0.5 26.694 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.694 * [backup-simplify]: Simplify phi1 into phi1 26.694 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.694 * [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 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.695 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.695 * [backup-simplify]: Simplify (- 0) into 0 26.695 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.695 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.696 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.696 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.696 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.696 * [backup-simplify]: Simplify -0.5 into -0.5 26.696 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.696 * [backup-simplify]: Simplify phi2 into phi2 26.696 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.696 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.696 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.696 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.696 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.696 * [backup-simplify]: Simplify (- 0) into 0 26.697 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.697 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 26.697 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.697 * [backup-simplify]: Simplify phi2 into phi2 26.697 * [taylor]: Taking taylor expansion of (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 26.697 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.697 * [backup-simplify]: Simplify phi1 into phi1 26.697 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 26.697 * [taylor]: Taking taylor expansion of R in lambda2 26.697 * [backup-simplify]: Simplify R into R 26.697 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 26.697 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 26.697 * [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 26.697 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.697 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.697 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.697 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.697 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.697 * [backup-simplify]: Simplify -0.5 into -0.5 26.697 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.697 * [backup-simplify]: Simplify phi2 into phi2 26.697 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.697 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.698 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.698 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.698 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.698 * [backup-simplify]: Simplify (- 0) into 0 26.698 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.698 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.698 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.698 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.698 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.698 * [backup-simplify]: Simplify -0.5 into -0.5 26.698 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.698 * [backup-simplify]: Simplify phi1 into phi1 26.698 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.699 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.699 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.699 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.699 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.699 * [backup-simplify]: Simplify (- 0) into 0 26.699 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.699 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.699 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.699 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.699 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.699 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.699 * [backup-simplify]: Simplify -0.5 into -0.5 26.700 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.700 * [backup-simplify]: Simplify phi2 into phi2 26.700 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.700 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.700 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.700 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.700 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.700 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.700 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.700 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.700 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.700 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.700 * [backup-simplify]: Simplify -0.5 into -0.5 26.700 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.700 * [backup-simplify]: Simplify phi1 into phi1 26.700 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.700 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.701 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.701 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.701 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.701 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.701 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 26.701 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.701 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.701 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.701 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.701 * [backup-simplify]: Simplify -0.5 into -0.5 26.701 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.701 * [backup-simplify]: Simplify phi2 into phi2 26.701 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.701 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.701 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.701 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.701 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.701 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.701 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.701 * [backup-simplify]: Simplify -0.5 into -0.5 26.701 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.702 * [backup-simplify]: Simplify phi2 into phi2 26.702 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.702 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.702 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.702 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.702 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.702 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.702 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.702 * [backup-simplify]: Simplify -0.5 into -0.5 26.702 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 phi1)) in lambda2 26.702 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.702 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.702 * [backup-simplify]: Simplify -0.5 into -0.5 26.702 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.702 * [backup-simplify]: Simplify phi1 into phi1 26.702 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.703 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.703 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.703 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.703 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.703 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.703 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.703 * [backup-simplify]: Simplify -0.5 into -0.5 26.703 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.703 * [backup-simplify]: Simplify phi2 into phi2 26.703 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.703 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.703 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.703 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.703 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.703 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.703 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.703 * [backup-simplify]: Simplify -0.5 into -0.5 26.703 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.703 * [backup-simplify]: Simplify phi2 into phi2 26.703 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.704 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.704 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.704 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.704 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.704 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.704 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.704 * [backup-simplify]: Simplify -0.5 into -0.5 26.704 * [taylor]: Taking taylor expansion of phi1 in lambda2 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)) 26.705 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.705 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.705 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.705 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.705 * [backup-simplify]: Simplify -0.5 into -0.5 26.705 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.705 * [backup-simplify]: Simplify phi1 into phi1 26.705 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.705 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.705 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.705 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.705 * [backup-simplify]: Simplify 0 into 0 26.705 * [backup-simplify]: Simplify 1 into 1 26.705 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.706 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.706 * [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)) 26.706 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.706 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.707 * [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)) 26.707 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.707 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.708 * [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)) 26.708 * [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))) 26.709 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.709 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.709 * [backup-simplify]: Simplify (- 0) into 0 26.710 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.710 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.710 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.710 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 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 phi1)) 1) into (sin (/ -0.5 phi1)) 26.711 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.711 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.711 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.711 * [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)))) 26.712 * [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))))) 26.712 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.712 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.712 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.712 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.712 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.713 * [backup-simplify]: Simplify (- 0) into 0 26.713 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.713 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.713 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.713 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.713 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.713 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.714 * [backup-simplify]: Simplify (- 0) into 0 26.714 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.714 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.714 * [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)))) 26.714 * [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))))) 26.715 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.716 * [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))))))) 26.718 * [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))))))) 26.720 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 26.720 * [backup-simplify]: Simplify (* R 0) into 0 26.720 * [backup-simplify]: Simplify (* phi1 0) into 0 26.720 * [backup-simplify]: Simplify (* phi2 0) into 0 26.720 * [backup-simplify]: Simplify (+ 0) into 0 26.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.721 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.722 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.723 * [backup-simplify]: Simplify (- 0) into 0 26.723 * [backup-simplify]: Simplify (+ 0 0) into 0 26.724 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.724 * [backup-simplify]: Simplify (+ 0) into 0 26.724 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.725 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.727 * [backup-simplify]: Simplify (- 0) into 0 26.727 * [backup-simplify]: Simplify (+ 0 0) into 0 26.727 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.728 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.728 * [backup-simplify]: Simplify (+ 0) into 0 26.728 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.729 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.730 * [backup-simplify]: Simplify (+ 0 0) into 0 26.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.731 * [backup-simplify]: Simplify (+ 0) into 0 26.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.731 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.732 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.733 * [backup-simplify]: Simplify (+ 0 0) into 0 26.733 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.734 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.734 * [backup-simplify]: Simplify (+ 0 0) into 0 26.734 * [backup-simplify]: Simplify (+ 0) into 0 26.735 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.735 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.736 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.737 * [backup-simplify]: Simplify (+ 0 0) into 0 26.738 * [backup-simplify]: Simplify (+ 0) into 0 26.738 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.738 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.739 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.739 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.740 * [backup-simplify]: Simplify (- 0) into 0 26.740 * [backup-simplify]: Simplify (+ 0 0) into 0 26.740 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.741 * [backup-simplify]: Simplify (+ 0) into 0 26.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.741 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.742 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.743 * [backup-simplify]: Simplify (+ 0 0) into 0 26.743 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.744 * [backup-simplify]: Simplify (+ 0) into 0 26.744 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.744 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.745 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.746 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.746 * [backup-simplify]: Simplify (- 0) into 0 26.746 * [backup-simplify]: Simplify (+ 0 0) into 0 26.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.747 * [backup-simplify]: Simplify (+ 0) into 0 26.748 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.748 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.749 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.749 * [backup-simplify]: Simplify (- 0) into 0 26.750 * [backup-simplify]: Simplify (+ 0 0) into 0 26.750 * [backup-simplify]: Simplify (+ 0) into 0 26.751 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.752 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.752 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.752 * [backup-simplify]: Simplify (+ 0 0) into 0 26.753 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.753 * [backup-simplify]: Simplify (+ 0) into 0 26.753 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.754 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.754 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.755 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.755 * [backup-simplify]: Simplify (- 0) into 0 26.756 * [backup-simplify]: Simplify (+ 0 0) into 0 26.756 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.756 * [backup-simplify]: Simplify (+ 0) into 0 26.757 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.757 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.758 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.759 * [backup-simplify]: Simplify (+ 0 0) into 0 26.759 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.759 * [backup-simplify]: Simplify (+ 0 0) into 0 26.760 * [backup-simplify]: Simplify (- 0) into 0 26.760 * [backup-simplify]: Simplify (+ 0 0) into 0 26.762 * [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))))))) 1) (* 0 0)) 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))))))) 26.765 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 26.768 * [backup-simplify]: Simplify (+ (* phi1 (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) 26.772 * [backup-simplify]: Simplify (+ (* phi2 (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (* 0 0)) into (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 26.775 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 26.776 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 26.776 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 26.776 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 26.776 * [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 26.776 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.776 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.776 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.776 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.776 * [backup-simplify]: Simplify -0.5 into -0.5 26.776 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.776 * [backup-simplify]: Simplify phi2 into phi2 26.776 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.776 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.776 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.776 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.777 * [backup-simplify]: Simplify (- 0) into 0 26.777 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.777 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.777 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.777 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.777 * [backup-simplify]: Simplify -0.5 into -0.5 26.777 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.777 * [backup-simplify]: Simplify phi1 into phi1 26.777 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.778 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.778 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.778 * [backup-simplify]: Simplify (- 0) into 0 26.778 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.778 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.778 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.778 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.778 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.778 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.778 * [backup-simplify]: Simplify -0.5 into -0.5 26.778 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.779 * [backup-simplify]: Simplify phi2 into phi2 26.779 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.779 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.779 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.779 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.779 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.779 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.779 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.779 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.779 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.779 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.779 * [backup-simplify]: Simplify -0.5 into -0.5 26.779 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.779 * [backup-simplify]: Simplify phi1 into phi1 26.779 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.779 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.780 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.780 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 26.780 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.780 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.780 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.780 * [backup-simplify]: Simplify -0.5 into -0.5 26.780 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.780 * [backup-simplify]: Simplify phi2 into phi2 26.780 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.780 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.780 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.780 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.780 * [backup-simplify]: Simplify -0.5 into -0.5 26.781 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.781 * [backup-simplify]: Simplify phi2 into phi2 26.781 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.781 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.781 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.781 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.781 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.781 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.781 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.781 * [backup-simplify]: Simplify -0.5 into -0.5 26.781 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.781 * [backup-simplify]: Simplify phi1 into phi1 26.781 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.781 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.781 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.781 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.781 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.781 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.781 * [backup-simplify]: Simplify -0.5 into -0.5 26.781 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.781 * [backup-simplify]: Simplify phi1 into phi1 26.781 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.782 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.782 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.782 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.782 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.782 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.782 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.782 * [backup-simplify]: Simplify -0.5 into -0.5 26.782 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.782 * [backup-simplify]: Simplify phi2 into phi2 26.782 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.782 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.782 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.782 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.782 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.782 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.782 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.782 * [backup-simplify]: Simplify -0.5 into -0.5 26.782 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.782 * [backup-simplify]: Simplify phi2 into phi2 26.782 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.782 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.782 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.783 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.783 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.783 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.783 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.783 * [backup-simplify]: Simplify -0.5 into -0.5 26.783 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.783 * [backup-simplify]: Simplify phi1 into phi1 26.783 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.783 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.783 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.783 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.783 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.783 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.783 * [backup-simplify]: Simplify -0.5 into -0.5 26.783 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.783 * [backup-simplify]: Simplify phi1 into phi1 26.783 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.783 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.783 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.784 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.784 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.784 * [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)) 26.784 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.784 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.785 * [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)) 26.786 * [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))) 26.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.787 * [backup-simplify]: Simplify (- 0) into 0 26.787 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.787 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.787 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.787 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.787 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.787 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.787 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.787 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.788 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.788 * [backup-simplify]: Simplify (- 0) into 0 26.788 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.788 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.788 * [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)))) 26.789 * [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))))) 26.789 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.789 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.789 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.789 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.789 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.790 * [backup-simplify]: Simplify (- 0) into 0 26.790 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.790 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.790 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.790 * [backup-simplify]: Simplify (- 0) into 0 26.790 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.791 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.791 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.791 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.791 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.791 * [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)))) 26.791 * [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))))) 26.792 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.793 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.795 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.797 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 26.799 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.799 * [backup-simplify]: Simplify (+ 0) into 0 26.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.800 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.809 * [backup-simplify]: Simplify (- 0) into 0 26.809 * [backup-simplify]: Simplify (+ 0 0) into 0 26.809 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.810 * [backup-simplify]: Simplify (+ 0) into 0 26.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.810 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.812 * [backup-simplify]: Simplify (- 0) into 0 26.812 * [backup-simplify]: Simplify (+ 0 0) into 0 26.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.813 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.813 * [backup-simplify]: Simplify (+ 0) into 0 26.814 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.814 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.815 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.815 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.815 * [backup-simplify]: Simplify (+ 0 0) into 0 26.816 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.816 * [backup-simplify]: Simplify (+ 0) into 0 26.817 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.817 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.818 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.818 * [backup-simplify]: Simplify (+ 0 0) into 0 26.819 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.819 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.819 * [backup-simplify]: Simplify (+ 0 0) into 0 26.820 * [backup-simplify]: Simplify (+ 0) into 0 26.820 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.820 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.821 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.821 * [backup-simplify]: Simplify (- 0) into 0 26.822 * [backup-simplify]: Simplify (+ 0 0) into 0 26.822 * [backup-simplify]: Simplify (+ 0) into 0 26.822 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.822 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.823 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.823 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.824 * [backup-simplify]: Simplify (+ 0 0) into 0 26.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.824 * [backup-simplify]: Simplify (+ 0) into 0 26.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.824 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.826 * [backup-simplify]: Simplify (+ 0 0) into 0 26.826 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.826 * [backup-simplify]: Simplify (+ 0) into 0 26.826 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.826 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.827 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.827 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.827 * [backup-simplify]: Simplify (- 0) into 0 26.828 * [backup-simplify]: Simplify (+ 0 0) into 0 26.828 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.828 * [backup-simplify]: Simplify (+ 0) into 0 26.829 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.829 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.829 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.830 * [backup-simplify]: Simplify (+ 0 0) into 0 26.830 * [backup-simplify]: Simplify (+ 0) into 0 26.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.830 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.831 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.831 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.831 * [backup-simplify]: Simplify (- 0) into 0 26.832 * [backup-simplify]: Simplify (+ 0 0) into 0 26.832 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.832 * [backup-simplify]: Simplify (+ 0) into 0 26.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.833 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.834 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.835 * [backup-simplify]: Simplify (- 0) into 0 26.835 * [backup-simplify]: Simplify (+ 0 0) into 0 26.835 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.836 * [backup-simplify]: Simplify (+ 0) into 0 26.836 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.836 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.837 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.838 * [backup-simplify]: Simplify (+ 0 0) into 0 26.838 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.839 * [backup-simplify]: Simplify (+ 0 0) into 0 26.839 * [backup-simplify]: Simplify (- 0) into 0 26.839 * [backup-simplify]: Simplify (+ 0 0) into 0 26.844 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.845 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 26.845 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))))))))) in lambda2 26.846 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 26.846 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 26.846 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) in lambda2 26.846 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2 26.846 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.846 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.846 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.846 * [backup-simplify]: Simplify -0.5 into -0.5 26.846 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.846 * [backup-simplify]: Simplify phi2 into phi2 26.846 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.846 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.846 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.846 * [backup-simplify]: Simplify (- 0) into 0 26.847 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.847 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda2 26.847 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2 26.847 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.847 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.847 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.847 * [backup-simplify]: Simplify -0.5 into -0.5 26.847 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.847 * [backup-simplify]: Simplify phi1 into phi1 26.847 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.847 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.847 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.847 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.847 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.847 * [backup-simplify]: Simplify (- 0) into 0 26.847 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.847 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.847 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.847 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.847 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.847 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.847 * [backup-simplify]: Simplify -0.5 into -0.5 26.847 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.847 * [backup-simplify]: Simplify phi2 into phi2 26.847 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.848 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.848 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.848 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.848 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.848 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.848 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.848 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.848 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.848 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.848 * [backup-simplify]: Simplify -0.5 into -0.5 26.848 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.848 * [backup-simplify]: Simplify phi1 into phi1 26.848 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.848 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.848 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.848 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.848 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.848 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.848 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 26.848 * [taylor]: Taking taylor expansion of R in lambda2 26.848 * [backup-simplify]: Simplify R into R 26.848 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 26.848 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 26.848 * [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 26.848 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.848 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.848 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.848 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.848 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.848 * [backup-simplify]: Simplify -0.5 into -0.5 26.849 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.849 * [backup-simplify]: Simplify phi2 into phi2 26.849 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.849 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.849 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.849 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.849 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.849 * [backup-simplify]: Simplify (- 0) into 0 26.849 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.849 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.849 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.849 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.849 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.849 * [backup-simplify]: Simplify -0.5 into -0.5 26.849 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.849 * [backup-simplify]: Simplify phi1 into phi1 26.849 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.849 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.849 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.849 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.850 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.850 * [backup-simplify]: Simplify (- 0) into 0 26.850 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.850 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.850 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.850 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.850 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.850 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.850 * [backup-simplify]: Simplify -0.5 into -0.5 26.850 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.850 * [backup-simplify]: Simplify phi2 into phi2 26.850 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.850 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.850 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.850 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.850 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.850 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.850 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.850 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.850 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.850 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.850 * [backup-simplify]: Simplify -0.5 into -0.5 26.850 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.850 * [backup-simplify]: Simplify phi1 into phi1 26.851 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.851 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.851 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.851 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.851 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.851 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.851 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 26.851 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.851 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.851 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.851 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.851 * [backup-simplify]: Simplify -0.5 into -0.5 26.851 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.851 * [backup-simplify]: Simplify phi2 into phi2 26.851 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.851 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.851 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.851 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.851 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.851 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.851 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.851 * [backup-simplify]: Simplify -0.5 into -0.5 26.851 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.851 * [backup-simplify]: Simplify phi2 into phi2 26.851 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.851 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.851 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.851 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.851 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.851 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.851 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.851 * [backup-simplify]: Simplify -0.5 into -0.5 26.851 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.852 * [backup-simplify]: Simplify phi1 into phi1 26.852 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.852 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.852 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.852 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.852 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.852 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.852 * [backup-simplify]: Simplify -0.5 into -0.5 26.852 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.852 * [backup-simplify]: Simplify phi1 into phi1 26.852 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.852 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.852 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.852 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.852 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.852 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.852 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.852 * [backup-simplify]: Simplify -0.5 into -0.5 26.852 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.852 * [backup-simplify]: Simplify phi2 into phi2 26.852 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.852 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.852 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.852 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.852 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.852 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.852 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.852 * [backup-simplify]: Simplify -0.5 into -0.5 26.852 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.852 * [backup-simplify]: Simplify phi2 into phi2 26.852 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.852 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.852 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.852 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.852 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.852 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.853 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.853 * [backup-simplify]: Simplify -0.5 into -0.5 26.853 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.853 * [backup-simplify]: Simplify phi1 into phi1 26.853 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.853 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.853 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.853 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.853 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.853 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.853 * [backup-simplify]: Simplify -0.5 into -0.5 26.853 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.853 * [backup-simplify]: Simplify phi1 into phi1 26.853 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.853 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.853 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.853 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 26.853 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.853 * [backup-simplify]: Simplify 0 into 0 26.853 * [backup-simplify]: Simplify 1 into 1 26.853 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.853 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4) 26.853 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.854 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4) 26.854 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.854 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.854 * [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)) 26.854 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 2))) 26.855 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 2)))) into (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 2)))) 26.855 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.855 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.855 * [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)) 26.855 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.855 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.855 * [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)) 26.856 * [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))) 26.856 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.856 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.857 * [backup-simplify]: Simplify (- 0) into 0 26.857 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.857 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.857 * [backup-simplify]: Simplify (- 0) into 0 26.857 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.857 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.858 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.858 * [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)))) 26.858 * [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))))) 26.858 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.858 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.858 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.858 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.858 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.858 * [backup-simplify]: Simplify (- 0) into 0 26.858 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.859 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.859 * [backup-simplify]: Simplify (- 0) into 0 26.859 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.859 * [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)))) 26.860 * [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))))) 26.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.860 * [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))))))) 26.862 * [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))))))) 26.862 * [backup-simplify]: Simplify (* 1 1) into 1 26.862 * [backup-simplify]: Simplify (* 1 1) into 1 26.863 * [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))))))) 1) 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))))))) 26.864 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 26.866 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 26.866 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 26.866 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 26.866 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 26.866 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 26.866 * [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 26.866 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.866 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.866 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.866 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.866 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.866 * [backup-simplify]: Simplify -0.5 into -0.5 26.866 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.866 * [backup-simplify]: Simplify phi2 into phi2 26.866 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.866 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.866 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.866 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.866 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.867 * [backup-simplify]: Simplify (- 0) into 0 26.867 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.867 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.867 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.867 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.867 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.867 * [backup-simplify]: Simplify -0.5 into -0.5 26.867 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.867 * [backup-simplify]: Simplify phi1 into phi1 26.867 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.867 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.867 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.867 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.867 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.867 * [backup-simplify]: Simplify (- 0) into 0 26.867 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.867 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.868 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.868 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.868 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.868 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.868 * [backup-simplify]: Simplify -0.5 into -0.5 26.868 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.868 * [backup-simplify]: Simplify phi2 into phi2 26.868 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.868 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.868 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.868 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.868 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.868 * [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 lambda2 26.868 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.868 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.868 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.868 * [backup-simplify]: Simplify -0.5 into -0.5 26.868 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.868 * [backup-simplify]: Simplify phi1 into phi1 26.868 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.868 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.868 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.868 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.868 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.868 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.868 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 26.868 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.868 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.869 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.869 * [backup-simplify]: Simplify -0.5 into -0.5 26.869 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.869 * [backup-simplify]: Simplify phi2 into phi2 26.869 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.869 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.869 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.869 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.869 * [backup-simplify]: Simplify -0.5 into -0.5 26.869 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.869 * [backup-simplify]: Simplify phi2 into phi2 26.869 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.869 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.869 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.869 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.869 * [backup-simplify]: Simplify -0.5 into -0.5 26.869 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.869 * [backup-simplify]: Simplify phi1 into phi1 26.869 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.869 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.869 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.869 * [backup-simplify]: Simplify -0.5 into -0.5 26.869 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.869 * [backup-simplify]: Simplify phi1 into phi1 26.869 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.870 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.870 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.870 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.870 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.870 * [backup-simplify]: Simplify -0.5 into -0.5 26.870 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.870 * [backup-simplify]: Simplify phi2 into phi2 26.870 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.870 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.870 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.870 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.870 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.870 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.870 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.870 * [backup-simplify]: Simplify -0.5 into -0.5 26.870 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.870 * [backup-simplify]: Simplify phi2 into phi2 26.870 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.870 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.870 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.870 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.870 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.870 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.870 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.870 * [backup-simplify]: Simplify -0.5 into -0.5 26.870 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.870 * [backup-simplify]: Simplify phi1 into phi1 26.870 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.870 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.870 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.870 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.870 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.870 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.870 * [backup-simplify]: Simplify -0.5 into -0.5 26.870 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.870 * [backup-simplify]: Simplify phi1 into phi1 26.870 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.871 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.871 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.871 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.871 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.871 * [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)) 26.871 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.871 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.871 * [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)) 26.872 * [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))) 26.872 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.872 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.873 * [backup-simplify]: Simplify (- 0) into 0 26.873 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.873 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.873 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.873 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.873 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.873 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.874 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.874 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.874 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.874 * [backup-simplify]: Simplify (- 0) into 0 26.874 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.874 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.875 * [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)))) 26.875 * [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))))) 26.875 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.875 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.875 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.875 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.876 * [backup-simplify]: Simplify (- 0) into 0 26.876 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.876 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.877 * [backup-simplify]: Simplify (- 0) into 0 26.877 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.877 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.877 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.877 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.877 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.877 * [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)))) 26.878 * [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))))) 26.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.879 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.881 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.885 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 26.888 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 26.892 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.896 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.897 * [backup-simplify]: Simplify (+ 0) into 0 26.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.898 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.899 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.899 * [backup-simplify]: Simplify (- 0) into 0 26.900 * [backup-simplify]: Simplify (+ 0 0) into 0 26.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.900 * [backup-simplify]: Simplify (+ 0) into 0 26.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.901 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.902 * [backup-simplify]: Simplify (- 0) into 0 26.903 * [backup-simplify]: Simplify (+ 0 0) into 0 26.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 26.903 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 26.904 * [backup-simplify]: Simplify (+ 0) into 0 26.905 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.905 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.907 * [backup-simplify]: Simplify (+ 0 0) into 0 26.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.907 * [backup-simplify]: Simplify (+ 0) into 0 26.908 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.908 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.910 * [backup-simplify]: Simplify (+ 0 0) into 0 26.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 26.910 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 26.911 * [backup-simplify]: Simplify (+ 0 0) into 0 26.911 * [backup-simplify]: Simplify (+ 0) into 0 26.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.912 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.913 * [backup-simplify]: Simplify (- 0) into 0 26.914 * [backup-simplify]: Simplify (+ 0 0) into 0 26.914 * [backup-simplify]: Simplify (+ 0) into 0 26.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.915 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.916 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.916 * [backup-simplify]: Simplify (+ 0 0) into 0 26.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.917 * [backup-simplify]: Simplify (+ 0) into 0 26.918 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.918 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.919 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.919 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.919 * [backup-simplify]: Simplify (+ 0 0) into 0 26.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 26.920 * [backup-simplify]: Simplify (+ 0) into 0 26.920 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.920 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.921 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.921 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.922 * [backup-simplify]: Simplify (- 0) into 0 26.922 * [backup-simplify]: Simplify (+ 0 0) into 0 26.922 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 26.922 * [backup-simplify]: Simplify (+ 0) into 0 26.923 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.923 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.924 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.924 * [backup-simplify]: Simplify (+ 0 0) into 0 26.924 * [backup-simplify]: Simplify (+ 0) into 0 26.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.926 * [backup-simplify]: Simplify (- 0) into 0 26.926 * [backup-simplify]: Simplify (+ 0 0) into 0 26.926 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 26.927 * [backup-simplify]: Simplify (+ 0) into 0 26.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.927 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.928 * [backup-simplify]: Simplify (- 0) into 0 26.928 * [backup-simplify]: Simplify (+ 0 0) into 0 26.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 26.929 * [backup-simplify]: Simplify (+ 0) into 0 26.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.929 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.930 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.930 * [backup-simplify]: Simplify (+ 0 0) into 0 26.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 26.931 * [backup-simplify]: Simplify (+ 0 0) into 0 26.931 * [backup-simplify]: Simplify (- 0) into 0 26.931 * [backup-simplify]: Simplify (+ 0 0) into 0 26.933 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 26.936 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 26.940 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 26.943 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 26.943 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))))))) in lambda2 26.948 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 26.948 * [taylor]: Taking taylor expansion of 3 in lambda2 26.948 * [backup-simplify]: Simplify 3 into 3 26.948 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 26.948 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 26.948 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) in lambda2 26.948 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2 26.948 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.948 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.948 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.948 * [backup-simplify]: Simplify -0.5 into -0.5 26.948 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.948 * [backup-simplify]: Simplify phi1 into phi1 26.948 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.948 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.948 * [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 (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2))) in lambda2 26.949 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.949 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.949 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.949 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.949 * [backup-simplify]: Simplify -0.5 into -0.5 26.949 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.949 * [backup-simplify]: Simplify phi2 into phi2 26.949 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.949 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.949 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.949 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.949 * [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 (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.952 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2 26.952 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.953 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.953 * [backup-simplify]: Simplify -0.5 into -0.5 26.953 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.953 * [backup-simplify]: Simplify phi2 into phi2 26.953 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.953 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.953 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.953 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.953 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.953 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.953 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.953 * [backup-simplify]: Simplify -0.5 into -0.5 26.953 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.953 * [backup-simplify]: Simplify phi1 into phi1 26.953 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.953 * [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 26.954 * [backup-simplify]: Simplify (- 0) into 0 26.954 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.954 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 26.954 * [taylor]: Taking taylor expansion of R in lambda2 26.954 * [backup-simplify]: Simplify R into R 26.954 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 26.954 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 26.954 * [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 26.954 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.954 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.954 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.954 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.954 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.954 * [backup-simplify]: Simplify -0.5 into -0.5 26.954 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.954 * [backup-simplify]: Simplify phi2 into phi2 26.954 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.954 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.954 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.955 * [backup-simplify]: Simplify (- 0) into 0 26.955 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.955 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.955 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.955 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.955 * [backup-simplify]: Simplify -0.5 into -0.5 26.955 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.955 * [backup-simplify]: Simplify phi1 into phi1 26.955 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.955 * [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 26.956 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.956 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.956 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.956 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.956 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.956 * [backup-simplify]: Simplify -0.5 into -0.5 26.956 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.956 * [backup-simplify]: Simplify phi2 into phi2 26.956 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.956 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.956 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.957 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.957 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.957 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.957 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.957 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.957 * [backup-simplify]: Simplify -0.5 into -0.5 26.957 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.957 * [backup-simplify]: Simplify phi1 into phi1 26.957 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.957 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.957 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.957 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.957 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 26.957 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.957 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.957 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.957 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.957 * [backup-simplify]: Simplify -0.5 into -0.5 26.957 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.957 * [backup-simplify]: Simplify phi2 into phi2 26.957 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.957 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.958 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.958 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.958 * [backup-simplify]: Simplify -0.5 into -0.5 26.958 * [taylor]: Taking taylor expansion of phi2 in lambda2 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)) 26.958 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.958 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.958 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.958 * [backup-simplify]: Simplify -0.5 into -0.5 26.958 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.958 * [backup-simplify]: Simplify phi1 into phi1 26.958 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.958 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.958 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.958 * [backup-simplify]: Simplify -0.5 into -0.5 26.958 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.958 * [backup-simplify]: Simplify phi1 into phi1 26.958 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.958 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.958 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.959 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.959 * [backup-simplify]: Simplify -0.5 into -0.5 26.959 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.959 * [backup-simplify]: Simplify phi2 into phi2 26.959 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.959 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.959 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.959 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.959 * [backup-simplify]: Simplify -0.5 into -0.5 26.959 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.959 * [backup-simplify]: Simplify phi2 into phi2 26.959 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.959 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.959 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.959 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.959 * [backup-simplify]: Simplify -0.5 into -0.5 26.959 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.959 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.959 * [backup-simplify]: Simplify -0.5 into -0.5 26.959 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.959 * [backup-simplify]: Simplify phi1 into phi1 26.959 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.960 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 26.960 * [taylor]: Taking taylor expansion of lambda2 in lambda2 26.960 * [backup-simplify]: Simplify 0 into 0 26.960 * [backup-simplify]: Simplify 1 into 1 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 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4) 26.960 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 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 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4) 26.960 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.961 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)) 26.961 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2))) into (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 4))) 26.961 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 4)))) into (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 4)))) 26.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.962 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.962 * [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)) 26.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.962 * [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)) 26.963 * [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))) 26.963 * [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 (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.963 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.964 * [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 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)) 26.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.964 * [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)))) 26.965 * [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))))) 26.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.965 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.965 * [backup-simplify]: Simplify (- 0) into 0 26.965 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.965 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 26.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.966 * [backup-simplify]: Simplify (- 0) into 0 26.966 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.966 * [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)))) 26.966 * [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))))) 26.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.967 * [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))))))) 26.968 * [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))))))) 26.969 * [backup-simplify]: Simplify (* 1 1) into 1 26.969 * [backup-simplify]: Simplify (* 1 1) into 1 26.971 * [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))))))) 1) 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))))))) 26.973 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 26.974 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 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))))))) R)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 26.975 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 26.975 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 26.975 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 26.975 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 26.975 * [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 26.975 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 26.975 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 26.975 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.975 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.975 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.975 * [backup-simplify]: Simplify -0.5 into -0.5 26.975 * [taylor]: Taking taylor expansion of phi2 in lambda2 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 (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 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.976 * [backup-simplify]: Simplify (- 0) into 0 26.976 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.976 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 26.976 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.976 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.976 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.976 * [backup-simplify]: Simplify -0.5 into -0.5 26.976 * [taylor]: Taking taylor expansion of phi1 in lambda2 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 (cos (/ -0.5 phi1)) into (cos (/ -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)) 1) into (cos (/ -0.5 phi1)) 26.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.976 * [backup-simplify]: Simplify (- 0) into 0 26.976 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.976 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 26.976 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 26.976 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.976 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.976 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.976 * [backup-simplify]: Simplify -0.5 into -0.5 26.976 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.977 * [backup-simplify]: Simplify phi2 into phi2 26.977 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.977 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.977 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.977 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.977 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 26.977 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.977 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.977 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.977 * [backup-simplify]: Simplify -0.5 into -0.5 26.977 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.977 * [backup-simplify]: Simplify phi1 into phi1 26.977 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.977 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.977 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.977 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.977 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 26.977 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 26.977 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.977 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.977 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.977 * [backup-simplify]: Simplify -0.5 into -0.5 26.977 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.977 * [backup-simplify]: Simplify phi2 into phi2 26.977 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.978 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.978 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 26.978 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.978 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.978 * [backup-simplify]: Simplify -0.5 into -0.5 26.978 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.978 * [backup-simplify]: Simplify phi2 into phi2 26.978 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.978 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.978 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 26.978 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.978 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.978 * [backup-simplify]: Simplify -0.5 into -0.5 26.978 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.978 * [backup-simplify]: Simplify phi1 into phi1 26.978 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.978 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.978 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.978 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.978 * [backup-simplify]: Simplify -0.5 into -0.5 26.978 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.978 * [backup-simplify]: Simplify phi1 into phi1 26.978 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.978 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.978 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 26.978 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 26.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.978 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.978 * [backup-simplify]: Simplify -0.5 into -0.5 26.978 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.979 * [backup-simplify]: Simplify phi2 into phi2 26.979 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.979 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 26.979 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 26.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 26.979 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.979 * [backup-simplify]: Simplify -0.5 into -0.5 26.979 * [taylor]: Taking taylor expansion of phi2 in lambda2 26.979 * [backup-simplify]: Simplify phi2 into phi2 26.979 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 26.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 26.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 26.979 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 26.979 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 26.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.979 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.979 * [backup-simplify]: Simplify -0.5 into -0.5 26.979 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.979 * [backup-simplify]: Simplify phi1 into phi1 26.979 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.979 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 26.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 26.979 * [taylor]: Taking taylor expansion of -0.5 in lambda2 26.979 * [backup-simplify]: Simplify -0.5 into -0.5 26.979 * [taylor]: Taking taylor expansion of phi1 in lambda2 26.979 * [backup-simplify]: Simplify phi1 into phi1 26.979 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 26.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 26.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 26.980 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 26.980 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 26.980 * [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)) 26.980 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 26.980 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 26.980 * [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)) 26.981 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 26.981 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 26.981 * [backup-simplify]: Simplify (- 0) into 0 26.981 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 26.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.981 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.981 * [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 phi1)) 1) into (cos (/ -0.5 phi1)) 26.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 26.982 * [backup-simplify]: Simplify (- 0) into 0 26.982 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 26.982 * [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)))) 26.983 * [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))))) 26.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 26.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 26.983 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 26.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 26.983 * [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 26.984 * [backup-simplify]: Simplify (- 0) into 0 26.984 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 26.984 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 26.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 26.984 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 26.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 26.984 * [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)))) 26.984 * [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))))) 26.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 26.985 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.986 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 26.988 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 26.990 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 26.993 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.995 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 26.995 * [backup-simplify]: Simplify (+ 0) into 0 26.996 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 26.996 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 26.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 26.997 * [backup-simplify]: Simplify (- 0) into 0 26.997 * [backup-simplify]: Simplify (+ 0 0) into 0 26.997 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 26.998 * [backup-simplify]: Simplify (+ 0) into 0 26.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 26.998 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 26.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 26.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 26.999 * [backup-simplify]: Simplify (- 0) into 0 26.999 * [backup-simplify]: Simplify (+ 0 0) into 0 26.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.000 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.000 * [backup-simplify]: Simplify (+ 0) into 0 27.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.001 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.001 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.002 * [backup-simplify]: Simplify (+ 0 0) into 0 27.002 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.003 * [backup-simplify]: Simplify (+ 0) into 0 27.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.004 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.005 * [backup-simplify]: Simplify (+ 0 0) into 0 27.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.005 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.005 * [backup-simplify]: Simplify (+ 0 0) into 0 27.006 * [backup-simplify]: Simplify (+ 0) into 0 27.006 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.006 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.007 * [backup-simplify]: Simplify (- 0) into 0 27.007 * [backup-simplify]: Simplify (+ 0 0) into 0 27.008 * [backup-simplify]: Simplify (+ 0) into 0 27.008 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.008 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.009 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.009 * [backup-simplify]: Simplify (+ 0 0) into 0 27.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.010 * [backup-simplify]: Simplify (+ 0) into 0 27.010 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.010 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.011 * [backup-simplify]: Simplify (+ 0 0) into 0 27.011 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 27.011 * [backup-simplify]: Simplify (+ 0) into 0 27.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.012 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.013 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.013 * [backup-simplify]: Simplify (- 0) into 0 27.013 * [backup-simplify]: Simplify (+ 0 0) into 0 27.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 27.014 * [backup-simplify]: Simplify (+ 0) into 0 27.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.014 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.015 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.015 * [backup-simplify]: Simplify (+ 0 0) into 0 27.016 * [backup-simplify]: Simplify (+ 0) into 0 27.016 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.016 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.016 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.017 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.017 * [backup-simplify]: Simplify (- 0) into 0 27.017 * [backup-simplify]: Simplify (+ 0 0) into 0 27.017 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.018 * [backup-simplify]: Simplify (+ 0) into 0 27.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.018 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.019 * [backup-simplify]: Simplify (- 0) into 0 27.019 * [backup-simplify]: Simplify (+ 0 0) into 0 27.020 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 27.020 * [backup-simplify]: Simplify (+ 0) into 0 27.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.020 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.021 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.021 * [backup-simplify]: Simplify (+ 0 0) into 0 27.022 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 27.022 * [backup-simplify]: Simplify (+ 0 0) into 0 27.022 * [backup-simplify]: Simplify (- 0) into 0 27.022 * [backup-simplify]: Simplify (+ 0 0) into 0 27.025 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 27.027 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 27.033 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 27.037 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 27.037 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))))))) in lambda2 27.038 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 27.038 * [taylor]: Taking taylor expansion of 3/2 in lambda2 27.038 * [backup-simplify]: Simplify 3/2 into 3/2 27.038 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 27.038 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 27.038 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) in lambda2 27.038 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2 27.038 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.038 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.038 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.038 * [backup-simplify]: Simplify -0.5 into -0.5 27.038 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.038 * [backup-simplify]: Simplify phi1 into phi1 27.038 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.039 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.039 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.039 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.039 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.039 * [backup-simplify]: Simplify (- 0) into 0 27.039 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.039 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4))) in lambda2 27.040 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.040 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.040 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.040 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.040 * [backup-simplify]: Simplify -0.5 into -0.5 27.040 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.040 * [backup-simplify]: Simplify phi1 into phi1 27.040 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.040 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.040 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.040 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.040 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)) in lambda2 27.040 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.040 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.040 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.040 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.040 * [backup-simplify]: Simplify -0.5 into -0.5 27.040 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.040 * [backup-simplify]: Simplify phi2 into phi2 27.040 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.040 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.040 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.041 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.041 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2 27.041 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.041 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.041 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.041 * [backup-simplify]: Simplify -0.5 into -0.5 27.041 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.041 * [backup-simplify]: Simplify phi2 into phi2 27.041 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.041 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.041 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.041 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.041 * [backup-simplify]: Simplify (- 0) into 0 27.041 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.041 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 27.041 * [taylor]: Taking taylor expansion of R in lambda2 27.042 * [backup-simplify]: Simplify R into R 27.042 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 27.042 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 27.042 * [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 27.042 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.042 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.042 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.042 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.042 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.042 * [backup-simplify]: Simplify -0.5 into -0.5 27.042 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.042 * [backup-simplify]: Simplify phi2 into phi2 27.042 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.042 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.042 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.042 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.042 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.042 * [backup-simplify]: Simplify (- 0) into 0 27.042 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.042 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.042 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.042 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.042 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.042 * [backup-simplify]: Simplify -0.5 into -0.5 27.043 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.043 * [backup-simplify]: Simplify phi1 into phi1 27.043 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.043 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.043 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.043 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.043 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.043 * [backup-simplify]: Simplify (- 0) into 0 27.043 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.043 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.043 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.043 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.043 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.043 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.043 * [backup-simplify]: Simplify -0.5 into -0.5 27.043 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.043 * [backup-simplify]: Simplify phi2 into phi2 27.043 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.043 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.043 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.044 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.044 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.044 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.044 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.044 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.044 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.044 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.044 * [backup-simplify]: Simplify -0.5 into -0.5 27.044 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.044 * [backup-simplify]: Simplify phi1 into phi1 27.044 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.044 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.044 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.044 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.044 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.044 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.044 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 27.044 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.044 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.044 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.044 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.044 * [backup-simplify]: Simplify -0.5 into -0.5 27.044 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.044 * [backup-simplify]: Simplify phi2 into phi2 27.044 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.044 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.044 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.045 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.045 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.045 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.045 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.045 * [backup-simplify]: Simplify -0.5 into -0.5 27.045 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.045 * [backup-simplify]: Simplify phi2 into phi2 27.045 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.045 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.045 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.045 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.045 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.045 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.045 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.045 * [backup-simplify]: Simplify -0.5 into -0.5 27.045 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.045 * [backup-simplify]: Simplify phi1 into phi1 27.045 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.045 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.045 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.045 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.045 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.045 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.045 * [backup-simplify]: Simplify -0.5 into -0.5 27.045 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.045 * [backup-simplify]: Simplify phi1 into phi1 27.045 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.045 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.045 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.045 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.045 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.045 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.045 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.045 * [backup-simplify]: Simplify -0.5 into -0.5 27.045 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.045 * [backup-simplify]: Simplify phi2 into phi2 27.045 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.045 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.046 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.046 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.046 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.046 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.046 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.046 * [backup-simplify]: Simplify -0.5 into -0.5 27.046 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.046 * [backup-simplify]: Simplify phi2 into phi2 27.046 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.046 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.046 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.046 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.046 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.046 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.046 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.046 * [backup-simplify]: Simplify -0.5 into -0.5 27.046 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.046 * [backup-simplify]: Simplify phi1 into phi1 27.046 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.046 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.046 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.046 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.046 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.046 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.046 * [backup-simplify]: Simplify -0.5 into -0.5 27.046 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.046 * [backup-simplify]: Simplify phi1 into phi1 27.046 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.047 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.047 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.047 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 27.047 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.047 * [backup-simplify]: Simplify 0 into 0 27.047 * [backup-simplify]: Simplify 1 into 1 27.047 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.047 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4) 27.047 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.047 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.047 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.048 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4) 27.048 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)) 27.048 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4))) into (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) 27.049 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) into (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) 27.049 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.049 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.049 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 27.050 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.050 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.050 * [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)) 27.051 * [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))) 27.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.051 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.052 * [backup-simplify]: Simplify (- 0) into 0 27.052 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.052 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.052 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.052 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.052 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.052 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.053 * [backup-simplify]: Simplify (- 0) into 0 27.053 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.053 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.053 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.053 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.053 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.054 * [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)))) 27.054 * [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))))) 27.054 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.054 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.055 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.055 * [backup-simplify]: Simplify (- 0) into 0 27.055 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.055 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.055 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.055 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.055 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.056 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.056 * [backup-simplify]: Simplify (- 0) into 0 27.056 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.056 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.056 * [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)))) 27.057 * [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))))) 27.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.058 * [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))))))) 27.060 * [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))))))) 27.061 * [backup-simplify]: Simplify (* 1 1) into 1 27.061 * [backup-simplify]: Simplify (* 1 1) into 1 27.063 * [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))))))) 1) 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))))))) 27.065 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 27.068 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 27.068 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 27.068 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 27.068 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 27.068 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 27.068 * [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 27.068 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.068 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.068 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.068 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.068 * [backup-simplify]: Simplify -0.5 into -0.5 27.068 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.068 * [backup-simplify]: Simplify phi2 into phi2 27.068 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.069 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.069 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.069 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.069 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.069 * [backup-simplify]: Simplify (- 0) into 0 27.069 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.070 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.070 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.070 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.070 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.070 * [backup-simplify]: Simplify -0.5 into -0.5 27.070 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.070 * [backup-simplify]: Simplify phi1 into phi1 27.070 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.070 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.070 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.070 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.070 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.071 * [backup-simplify]: Simplify (- 0) into 0 27.071 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.071 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.071 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.071 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.071 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.071 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.071 * [backup-simplify]: Simplify -0.5 into -0.5 27.071 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.071 * [backup-simplify]: Simplify phi2 into phi2 27.071 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.071 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.071 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.071 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.071 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.071 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.072 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.072 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.072 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.072 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.072 * [backup-simplify]: Simplify -0.5 into -0.5 27.072 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.072 * [backup-simplify]: Simplify phi1 into phi1 27.072 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.072 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.072 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.072 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.072 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.072 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.072 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 27.072 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.072 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.072 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.072 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.072 * [backup-simplify]: Simplify -0.5 into -0.5 27.072 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.073 * [backup-simplify]: Simplify phi2 into phi2 27.073 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.073 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.073 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.073 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.073 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.073 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.073 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.073 * [backup-simplify]: Simplify -0.5 into -0.5 27.073 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.073 * [backup-simplify]: Simplify phi2 into phi2 27.073 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.073 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.073 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.073 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.073 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.073 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.073 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.073 * [backup-simplify]: Simplify -0.5 into -0.5 27.073 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.073 * [backup-simplify]: Simplify phi1 into phi1 27.073 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.074 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.074 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.074 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.074 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.074 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.074 * [backup-simplify]: Simplify -0.5 into -0.5 27.074 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.074 * [backup-simplify]: Simplify phi1 into phi1 27.074 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.074 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.074 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.074 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.074 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.074 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.074 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.074 * [backup-simplify]: Simplify -0.5 into -0.5 27.074 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.074 * [backup-simplify]: Simplify phi2 into phi2 27.074 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.074 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.074 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.075 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.075 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.075 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.075 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.075 * [backup-simplify]: Simplify -0.5 into -0.5 27.075 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.075 * [backup-simplify]: Simplify phi2 into phi2 27.075 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.075 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.075 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.075 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.075 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.075 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.075 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.075 * [backup-simplify]: Simplify -0.5 into -0.5 27.075 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.075 * [backup-simplify]: Simplify phi1 into phi1 27.075 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.076 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.076 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.076 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.076 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.076 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.076 * [backup-simplify]: Simplify -0.5 into -0.5 27.076 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.076 * [backup-simplify]: Simplify phi1 into phi1 27.076 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.076 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.076 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.077 * [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)) 27.077 * [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) 27.077 * [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 (+ (* (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))) 27.078 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.078 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.079 * [backup-simplify]: Simplify (- 0) into 0 27.079 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.079 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.079 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.079 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.079 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.080 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.080 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) 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 27.080 * [backup-simplify]: Simplify (- 0) into 0 27.080 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.080 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.081 * [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)))) 27.081 * [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))))) 27.081 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.081 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.081 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.081 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.081 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.086 * [backup-simplify]: Simplify (- 0) into 0 27.086 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.086 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.086 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.087 * [backup-simplify]: Simplify (- 0) into 0 27.087 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) 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 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.087 * [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)))) 27.088 * [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))))) 27.088 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.089 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.090 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.092 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 27.094 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 27.096 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.098 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.099 * [backup-simplify]: Simplify (+ 0) into 0 27.099 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.099 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.100 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.101 * [backup-simplify]: Simplify (- 0) into 0 27.101 * [backup-simplify]: Simplify (+ 0 0) into 0 27.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.101 * [backup-simplify]: Simplify (+ 0) into 0 27.102 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.102 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.103 * [backup-simplify]: Simplify (- 0) into 0 27.103 * [backup-simplify]: Simplify (+ 0 0) into 0 27.103 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.103 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.104 * [backup-simplify]: Simplify (+ 0) into 0 27.104 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.104 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.105 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.105 * [backup-simplify]: Simplify (+ 0 0) into 0 27.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.106 * [backup-simplify]: Simplify (+ 0) into 0 27.106 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.106 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.107 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.108 * [backup-simplify]: Simplify (+ 0 0) into 0 27.108 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.108 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.108 * [backup-simplify]: Simplify (+ 0 0) into 0 27.109 * [backup-simplify]: Simplify (+ 0) into 0 27.109 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.109 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.110 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.110 * [backup-simplify]: Simplify (- 0) into 0 27.110 * [backup-simplify]: Simplify (+ 0 0) into 0 27.111 * [backup-simplify]: Simplify (+ 0) into 0 27.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.111 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.112 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.112 * [backup-simplify]: Simplify (+ 0 0) into 0 27.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.113 * [backup-simplify]: Simplify (+ 0) into 0 27.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.113 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.114 * [backup-simplify]: Simplify (+ 0 0) into 0 27.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 27.115 * [backup-simplify]: Simplify (+ 0) into 0 27.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.116 * [backup-simplify]: Simplify (- 0) into 0 27.116 * [backup-simplify]: Simplify (+ 0 0) into 0 27.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 27.117 * [backup-simplify]: Simplify (+ 0) into 0 27.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.117 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.118 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.118 * [backup-simplify]: Simplify (+ 0 0) into 0 27.119 * [backup-simplify]: Simplify (+ 0) into 0 27.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.119 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.120 * [backup-simplify]: Simplify (- 0) into 0 27.120 * [backup-simplify]: Simplify (+ 0 0) into 0 27.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.121 * [backup-simplify]: Simplify (+ 0) into 0 27.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.121 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.122 * [backup-simplify]: Simplify (- 0) into 0 27.123 * [backup-simplify]: Simplify (+ 0 0) into 0 27.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 27.123 * [backup-simplify]: Simplify (+ 0) into 0 27.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.124 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.125 * [backup-simplify]: Simplify (+ 0 0) into 0 27.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 27.125 * [backup-simplify]: Simplify (+ 0 0) into 0 27.126 * [backup-simplify]: Simplify (- 0) into 0 27.126 * [backup-simplify]: Simplify (+ 0 0) into 0 27.128 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 27.130 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 27.135 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 27.137 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 27.137 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))))) in lambda2 27.138 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 27.138 * [taylor]: Taking taylor expansion of 1/2 in lambda2 27.138 * [backup-simplify]: Simplify 1/2 into 1/2 27.138 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 27.138 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 27.138 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) in lambda2 27.138 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2 27.138 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.138 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.138 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.138 * [backup-simplify]: Simplify -0.5 into -0.5 27.138 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.138 * [backup-simplify]: Simplify phi2 into phi2 27.138 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.138 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.138 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.139 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.139 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2))) in lambda2 27.139 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.139 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.139 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.139 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.139 * [backup-simplify]: Simplify -0.5 into -0.5 27.139 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.139 * [backup-simplify]: Simplify phi2 into phi2 27.139 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.139 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.139 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.139 * [backup-simplify]: Simplify (- 0) into 0 27.139 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.140 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.140 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2 27.140 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.140 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.140 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.140 * [backup-simplify]: Simplify -0.5 into -0.5 27.140 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.140 * [backup-simplify]: Simplify phi1 into phi1 27.140 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.140 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.140 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.140 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.140 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.140 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.140 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.140 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.140 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.140 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.140 * [backup-simplify]: Simplify -0.5 into -0.5 27.140 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.140 * [backup-simplify]: Simplify phi1 into phi1 27.140 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.140 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.140 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.140 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.140 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.141 * [backup-simplify]: Simplify (- 0) into 0 27.141 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.141 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 27.141 * [taylor]: Taking taylor expansion of R in lambda2 27.141 * [backup-simplify]: Simplify R into R 27.141 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 27.141 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 27.141 * [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 27.141 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.141 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.141 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.141 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.141 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.141 * [backup-simplify]: Simplify -0.5 into -0.5 27.141 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.141 * [backup-simplify]: Simplify phi2 into phi2 27.141 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.141 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.141 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.141 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.141 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.142 * [backup-simplify]: Simplify (- 0) into 0 27.142 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.142 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.142 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.142 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.142 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.142 * [backup-simplify]: Simplify -0.5 into -0.5 27.142 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.142 * [backup-simplify]: Simplify phi1 into phi1 27.142 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.142 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.142 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.142 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.142 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.142 * [backup-simplify]: Simplify (- 0) into 0 27.143 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.143 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.143 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.143 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.143 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.143 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.143 * [backup-simplify]: Simplify -0.5 into -0.5 27.143 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.143 * [backup-simplify]: Simplify phi2 into phi2 27.143 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.143 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.143 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.143 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.143 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.143 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.143 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.143 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.143 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.143 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.143 * [backup-simplify]: Simplify -0.5 into -0.5 27.143 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.143 * [backup-simplify]: Simplify phi1 into phi1 27.143 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.143 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.143 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.143 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.143 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.143 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.144 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 27.144 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.144 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.144 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.144 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.144 * [backup-simplify]: Simplify -0.5 into -0.5 27.144 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.144 * [backup-simplify]: Simplify phi2 into phi2 27.144 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.144 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.144 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.144 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.144 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.144 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.144 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.144 * [backup-simplify]: Simplify -0.5 into -0.5 27.144 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.144 * [backup-simplify]: Simplify phi2 into phi2 27.144 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.144 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.144 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.144 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.144 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.144 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.144 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.144 * [backup-simplify]: Simplify -0.5 into -0.5 27.144 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.144 * [backup-simplify]: Simplify phi1 into phi1 27.144 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.144 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.144 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.144 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.144 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.144 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.144 * [backup-simplify]: Simplify -0.5 into -0.5 27.144 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.144 * [backup-simplify]: Simplify phi1 into phi1 27.145 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.145 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.145 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.145 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.145 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.145 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.145 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.145 * [backup-simplify]: Simplify -0.5 into -0.5 27.145 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.145 * [backup-simplify]: Simplify phi2 into phi2 27.145 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.145 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.145 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.145 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.145 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.145 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.145 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.145 * [backup-simplify]: Simplify -0.5 into -0.5 27.145 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.145 * [backup-simplify]: Simplify phi2 into phi2 27.145 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.145 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.145 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.145 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.145 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.145 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.145 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.145 * [backup-simplify]: Simplify -0.5 into -0.5 27.145 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.145 * [backup-simplify]: Simplify phi1 into phi1 27.145 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.145 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.145 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.145 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.145 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.145 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.145 * [backup-simplify]: Simplify -0.5 into -0.5 27.146 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.146 * [backup-simplify]: Simplify phi1 into phi1 27.146 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.146 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.146 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.146 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 27.146 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.146 * [backup-simplify]: Simplify 0 into 0 27.146 * [backup-simplify]: Simplify 1 into 1 27.146 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.146 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4) 27.146 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.146 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.146 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4) 27.147 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.147 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)) 27.147 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2))) into (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 4))) 27.147 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 4)))) into (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 4)))) 27.148 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.148 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.148 * [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)) 27.148 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.148 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.148 * [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)) 27.149 * [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))) 27.149 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.149 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.149 * [backup-simplify]: Simplify (- 0) into 0 27.149 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.149 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.149 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.150 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.150 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.150 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.150 * [backup-simplify]: Simplify (- 0) into 0 27.150 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.150 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.150 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.150 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.150 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.150 * [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)))) 27.151 * [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))))) 27.151 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.151 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.151 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.151 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.151 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.151 * [backup-simplify]: Simplify (- 0) into 0 27.151 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.151 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.152 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.152 * [backup-simplify]: Simplify (- 0) into 0 27.152 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.152 * [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)))) 27.152 * [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))))) 27.153 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.153 * [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))))))) 27.154 * [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))))))) 27.155 * [backup-simplify]: Simplify (* 1 1) into 1 27.155 * [backup-simplify]: Simplify (* 1 1) into 1 27.156 * [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))))))) 1) 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))))))) 27.157 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 27.159 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 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))))))) R)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 27.159 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 27.159 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 27.159 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 27.159 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 27.159 * [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 27.159 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.159 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.159 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.159 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.159 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.159 * [backup-simplify]: Simplify -0.5 into -0.5 27.159 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.159 * [backup-simplify]: Simplify phi2 into phi2 27.159 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.159 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.159 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.159 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.159 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.160 * [backup-simplify]: Simplify (- 0) into 0 27.160 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.160 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.160 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.160 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.160 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.160 * [backup-simplify]: Simplify -0.5 into -0.5 27.160 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.160 * [backup-simplify]: Simplify phi1 into phi1 27.160 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.160 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.160 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.161 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.161 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.161 * [backup-simplify]: Simplify (- 0) into 0 27.161 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.161 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.161 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.161 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.161 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.161 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.161 * [backup-simplify]: Simplify -0.5 into -0.5 27.161 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.161 * [backup-simplify]: Simplify phi2 into phi2 27.161 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.161 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.161 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.161 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.161 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.161 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.161 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.162 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.162 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.162 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.162 * [backup-simplify]: Simplify -0.5 into -0.5 27.162 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.162 * [backup-simplify]: Simplify phi1 into phi1 27.162 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.162 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.162 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.162 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.162 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.162 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.162 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 27.162 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.162 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.162 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.162 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.162 * [backup-simplify]: Simplify -0.5 into -0.5 27.162 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.162 * [backup-simplify]: Simplify phi2 into phi2 27.162 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.162 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.162 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.162 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.162 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.162 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.162 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.162 * [backup-simplify]: Simplify -0.5 into -0.5 27.162 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.162 * [backup-simplify]: Simplify phi2 into phi2 27.162 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.162 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.163 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.163 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.163 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.163 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.163 * [backup-simplify]: Simplify -0.5 into -0.5 27.163 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.163 * [backup-simplify]: Simplify phi1 into phi1 27.163 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.163 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.163 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.163 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.163 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.163 * [backup-simplify]: Simplify -0.5 into -0.5 27.163 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.163 * [backup-simplify]: Simplify phi1 into phi1 27.163 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.163 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.163 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.163 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.163 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.163 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.163 * [backup-simplify]: Simplify -0.5 into -0.5 27.163 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.163 * [backup-simplify]: Simplify phi2 into phi2 27.163 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.163 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.163 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.163 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.163 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.163 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.163 * [backup-simplify]: Simplify -0.5 into -0.5 27.163 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.163 * [backup-simplify]: Simplify phi2 into phi2 27.163 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.164 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.164 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.164 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.164 * [backup-simplify]: Simplify -0.5 into -0.5 27.164 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.164 * [backup-simplify]: Simplify phi1 into phi1 27.164 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.164 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.164 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.164 * [backup-simplify]: Simplify -0.5 into -0.5 27.164 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.164 * [backup-simplify]: Simplify phi1 into phi1 27.164 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.164 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.164 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.165 * [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)) 27.165 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.165 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.165 * [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)) 27.165 * [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))) 27.165 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.166 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.166 * [backup-simplify]: Simplify (- 0) into 0 27.166 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.166 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.166 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.166 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.166 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.166 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.166 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.166 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.166 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.167 * [backup-simplify]: Simplify (- 0) into 0 27.167 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.167 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.167 * [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)))) 27.167 * [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))))) 27.167 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.167 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.167 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.168 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.168 * [backup-simplify]: Simplify (- 0) into 0 27.168 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.168 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.168 * [backup-simplify]: Simplify (- 0) into 0 27.168 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.169 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.169 * [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)))) 27.169 * [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))))) 27.169 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.170 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.171 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.173 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 27.175 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 27.179 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.183 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.184 * [backup-simplify]: Simplify (+ 0) into 0 27.184 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.184 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.186 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.186 * [backup-simplify]: Simplify (- 0) into 0 27.187 * [backup-simplify]: Simplify (+ 0 0) into 0 27.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.187 * [backup-simplify]: Simplify (+ 0) into 0 27.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.188 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.189 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.190 * [backup-simplify]: Simplify (- 0) into 0 27.190 * [backup-simplify]: Simplify (+ 0 0) into 0 27.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.191 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.191 * [backup-simplify]: Simplify (+ 0) into 0 27.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.192 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.193 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.193 * [backup-simplify]: Simplify (+ 0 0) into 0 27.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.194 * [backup-simplify]: Simplify (+ 0) into 0 27.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.194 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.196 * [backup-simplify]: Simplify (+ 0 0) into 0 27.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.196 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.196 * [backup-simplify]: Simplify (+ 0 0) into 0 27.197 * [backup-simplify]: Simplify (+ 0) into 0 27.197 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.197 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.198 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.198 * [backup-simplify]: Simplify (- 0) into 0 27.198 * [backup-simplify]: Simplify (+ 0 0) into 0 27.199 * [backup-simplify]: Simplify (+ 0) into 0 27.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.199 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.204 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.205 * [backup-simplify]: Simplify (+ 0 0) into 0 27.205 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.205 * [backup-simplify]: Simplify (+ 0) into 0 27.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.206 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.207 * [backup-simplify]: Simplify (+ 0 0) into 0 27.207 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 27.208 * [backup-simplify]: Simplify (+ 0) into 0 27.208 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.208 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.209 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.209 * [backup-simplify]: Simplify (- 0) into 0 27.209 * [backup-simplify]: Simplify (+ 0 0) into 0 27.210 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 27.210 * [backup-simplify]: Simplify (+ 0) into 0 27.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.210 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.211 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.211 * [backup-simplify]: Simplify (+ 0 0) into 0 27.212 * [backup-simplify]: Simplify (+ 0) into 0 27.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.212 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.213 * [backup-simplify]: Simplify (- 0) into 0 27.213 * [backup-simplify]: Simplify (+ 0 0) into 0 27.213 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.214 * [backup-simplify]: Simplify (+ 0) into 0 27.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.214 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.215 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.215 * [backup-simplify]: Simplify (- 0) into 0 27.216 * [backup-simplify]: Simplify (+ 0 0) into 0 27.216 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 27.216 * [backup-simplify]: Simplify (+ 0) into 0 27.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.216 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.217 * [backup-simplify]: Simplify (+ 0 0) into 0 27.218 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 27.218 * [backup-simplify]: Simplify (+ 0 0) into 0 27.218 * [backup-simplify]: Simplify (- 0) into 0 27.218 * [backup-simplify]: Simplify (+ 0 0) into 0 27.221 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 27.223 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 27.227 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 27.232 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 27.232 * [taylor]: Taking taylor expansion of (+ (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))))) in lambda2 27.232 * [taylor]: Taking taylor expansion of (* 5/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 27.232 * [taylor]: Taking taylor expansion of 5/2 in lambda2 27.232 * [backup-simplify]: Simplify 5/2 into 5/2 27.232 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 27.233 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 27.233 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) in lambda2 27.233 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.233 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.233 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.233 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.233 * [backup-simplify]: Simplify -0.5 into -0.5 27.233 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.233 * [backup-simplify]: Simplify phi1 into phi1 27.233 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.233 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.233 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.233 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.233 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.234 * [backup-simplify]: Simplify (- 0) into 0 27.234 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.234 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2))) in lambda2 27.234 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2 27.234 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.234 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.234 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.234 * [backup-simplify]: Simplify -0.5 into -0.5 27.234 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.234 * [backup-simplify]: Simplify phi1 into phi1 27.234 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.234 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.235 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.235 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.235 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.235 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.235 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)) in lambda2 27.235 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2 27.235 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.235 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.235 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.235 * [backup-simplify]: Simplify -0.5 into -0.5 27.235 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.235 * [backup-simplify]: Simplify phi2 into phi2 27.236 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.236 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.236 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.236 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.236 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.236 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.236 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.236 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.236 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.237 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.237 * [backup-simplify]: Simplify -0.5 into -0.5 27.237 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.237 * [backup-simplify]: Simplify phi2 into phi2 27.237 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.237 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.237 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.237 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.237 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.237 * [backup-simplify]: Simplify (- 0) into 0 27.237 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.237 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 27.237 * [taylor]: Taking taylor expansion of R in lambda2 27.237 * [backup-simplify]: Simplify R into R 27.237 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 27.238 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 27.238 * [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 27.238 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.238 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.238 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.238 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.238 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.238 * [backup-simplify]: Simplify -0.5 into -0.5 27.238 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.238 * [backup-simplify]: Simplify phi2 into phi2 27.238 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.238 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.238 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.238 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.238 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.238 * [backup-simplify]: Simplify (- 0) into 0 27.238 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.238 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.238 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.238 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.238 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.239 * [backup-simplify]: Simplify -0.5 into -0.5 27.239 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.239 * [backup-simplify]: Simplify phi1 into phi1 27.239 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.239 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.239 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.239 * [backup-simplify]: Simplify (- 0) into 0 27.239 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.239 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.239 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.239 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.239 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.239 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.239 * [backup-simplify]: Simplify -0.5 into -0.5 27.239 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.239 * [backup-simplify]: Simplify phi2 into phi2 27.239 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.239 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.240 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.240 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.240 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.240 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.240 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.240 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.240 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.240 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.240 * [backup-simplify]: Simplify -0.5 into -0.5 27.240 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.240 * [backup-simplify]: Simplify phi1 into phi1 27.240 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.240 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.240 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.240 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.240 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.240 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.240 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 27.240 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.240 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.240 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.240 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.240 * [backup-simplify]: Simplify -0.5 into -0.5 27.240 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.240 * [backup-simplify]: Simplify phi2 into phi2 27.240 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.241 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.241 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.241 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.241 * [backup-simplify]: Simplify -0.5 into -0.5 27.241 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.241 * [backup-simplify]: Simplify phi2 into phi2 27.241 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.241 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.241 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.241 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.241 * [backup-simplify]: Simplify -0.5 into -0.5 27.241 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.241 * [backup-simplify]: Simplify phi1 into phi1 27.241 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.241 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.241 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.241 * [backup-simplify]: Simplify -0.5 into -0.5 27.241 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.241 * [backup-simplify]: Simplify phi1 into phi1 27.241 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.241 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.242 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.242 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.242 * [backup-simplify]: Simplify -0.5 into -0.5 27.242 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.242 * [backup-simplify]: Simplify phi2 into phi2 27.242 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.242 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.242 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.242 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.242 * [backup-simplify]: Simplify -0.5 into -0.5 27.242 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.242 * [backup-simplify]: Simplify phi2 into phi2 27.242 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.242 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.242 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.242 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.242 * [backup-simplify]: Simplify -0.5 into -0.5 27.242 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.242 * [backup-simplify]: Simplify phi1 into phi1 27.242 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.242 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.242 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.242 * [backup-simplify]: Simplify -0.5 into -0.5 27.242 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.242 * [backup-simplify]: Simplify phi1 into phi1 27.243 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.243 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.243 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.243 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 27.243 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.243 * [backup-simplify]: Simplify 0 into 0 27.243 * [backup-simplify]: Simplify 1 into 1 27.243 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.243 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.243 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4) 27.243 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.243 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4) 27.244 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.244 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)) into (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)) 27.244 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 4))) 27.244 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 4)))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 4)))) 27.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.245 * [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)) 27.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.245 * [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)) 27.246 * [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))) 27.246 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.246 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.246 * [backup-simplify]: Simplify (- 0) into 0 27.246 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.246 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.246 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.246 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.247 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.247 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.247 * [backup-simplify]: Simplify (- 0) into 0 27.247 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.247 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.247 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.247 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.247 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.247 * [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)))) 27.248 * [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))))) 27.248 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.248 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.248 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.248 * [backup-simplify]: Simplify (- 0) into 0 27.248 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.248 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.248 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.249 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.249 * [backup-simplify]: Simplify (- 0) into 0 27.249 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.249 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.249 * [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)))) 27.249 * [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))))) 27.250 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.250 * [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))))))) 27.251 * [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))))))) 27.251 * [backup-simplify]: Simplify (* 1 1) into 1 27.252 * [backup-simplify]: Simplify (* 1 1) into 1 27.253 * [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))))))) 1) 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))))))) 27.254 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 27.255 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 4)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 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))))))) R)) into (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 27.255 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 27.255 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 27.255 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 27.255 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 27.255 * [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 27.255 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.255 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.256 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.256 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.256 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.256 * [backup-simplify]: Simplify -0.5 into -0.5 27.256 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.256 * [backup-simplify]: Simplify phi2 into phi2 27.256 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.256 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.256 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.256 * [backup-simplify]: Simplify (- 0) into 0 27.256 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.256 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.256 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.256 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.256 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.256 * [backup-simplify]: Simplify -0.5 into -0.5 27.256 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.256 * [backup-simplify]: Simplify phi1 into phi1 27.256 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.257 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.257 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.257 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.257 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.257 * [backup-simplify]: Simplify (- 0) into 0 27.257 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.257 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.257 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.257 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.257 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.257 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.257 * [backup-simplify]: Simplify -0.5 into -0.5 27.257 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.257 * [backup-simplify]: Simplify phi2 into phi2 27.257 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.257 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.257 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.257 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.257 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.258 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.258 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.258 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.258 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.258 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.258 * [backup-simplify]: Simplify -0.5 into -0.5 27.258 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.258 * [backup-simplify]: Simplify phi1 into phi1 27.258 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.258 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.258 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.258 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.258 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.258 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.258 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 27.258 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.258 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.258 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.258 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.258 * [backup-simplify]: Simplify -0.5 into -0.5 27.258 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.258 * [backup-simplify]: Simplify phi2 into phi2 27.258 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.258 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.258 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.258 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.258 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.258 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.258 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.258 * [backup-simplify]: Simplify -0.5 into -0.5 27.258 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.258 * [backup-simplify]: Simplify phi2 into phi2 27.258 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.259 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.259 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.259 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.259 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.259 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.259 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.259 * [backup-simplify]: Simplify -0.5 into -0.5 27.259 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.259 * [backup-simplify]: Simplify phi1 into phi1 27.259 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.259 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.259 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.259 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.259 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.259 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.259 * [backup-simplify]: Simplify -0.5 into -0.5 27.259 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.259 * [backup-simplify]: Simplify phi1 into phi1 27.259 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.259 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.259 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.259 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.259 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.259 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.259 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.259 * [backup-simplify]: Simplify -0.5 into -0.5 27.259 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.259 * [backup-simplify]: Simplify phi2 into phi2 27.259 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.259 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.259 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.259 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.259 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.259 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.259 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.259 * [backup-simplify]: Simplify -0.5 into -0.5 27.259 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.259 * [backup-simplify]: Simplify phi2 into phi2 27.260 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.260 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.260 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.260 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.260 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.260 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.260 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.260 * [backup-simplify]: Simplify -0.5 into -0.5 27.260 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.260 * [backup-simplify]: Simplify phi1 into phi1 27.260 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.260 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.260 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.260 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.260 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.260 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.260 * [backup-simplify]: Simplify -0.5 into -0.5 27.260 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.260 * [backup-simplify]: Simplify phi1 into phi1 27.260 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.260 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.260 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.260 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.260 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.261 * [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)) 27.261 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.261 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.261 * [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)) 27.261 * [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))) 27.261 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.262 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.262 * [backup-simplify]: Simplify (- 0) into 0 27.262 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.262 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.262 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.262 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.262 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.262 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.262 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.262 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.262 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.263 * [backup-simplify]: Simplify (- 0) into 0 27.263 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.263 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.263 * [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)))) 27.263 * [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))))) 27.263 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.263 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.263 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.263 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.263 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.264 * [backup-simplify]: Simplify (- 0) into 0 27.264 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.264 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.264 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.264 * [backup-simplify]: Simplify (- 0) into 0 27.264 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.264 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.264 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.264 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.265 * [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)))) 27.265 * [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))))) 27.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.266 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.267 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.269 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 27.271 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 27.273 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.275 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.276 * [backup-simplify]: Simplify (+ 0) into 0 27.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.277 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.277 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.278 * [backup-simplify]: Simplify (- 0) into 0 27.278 * [backup-simplify]: Simplify (+ 0 0) into 0 27.278 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.278 * [backup-simplify]: Simplify (+ 0) into 0 27.279 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.279 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.279 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.280 * [backup-simplify]: Simplify (- 0) into 0 27.280 * [backup-simplify]: Simplify (+ 0 0) into 0 27.280 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.280 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.281 * [backup-simplify]: Simplify (+ 0) into 0 27.281 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.281 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.282 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.282 * [backup-simplify]: Simplify (+ 0 0) into 0 27.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.282 * [backup-simplify]: Simplify (+ 0) into 0 27.283 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.283 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.283 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.284 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.284 * [backup-simplify]: Simplify (+ 0 0) into 0 27.284 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.285 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.285 * [backup-simplify]: Simplify (+ 0 0) into 0 27.285 * [backup-simplify]: Simplify (+ 0) into 0 27.286 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.286 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.287 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.287 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.288 * [backup-simplify]: Simplify (- 0) into 0 27.288 * [backup-simplify]: Simplify (+ 0 0) into 0 27.288 * [backup-simplify]: Simplify (+ 0) into 0 27.289 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.289 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.290 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.291 * [backup-simplify]: Simplify (+ 0 0) into 0 27.291 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.291 * [backup-simplify]: Simplify (+ 0) into 0 27.292 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.292 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.293 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.293 * [backup-simplify]: Simplify (+ 0 0) into 0 27.294 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 27.294 * [backup-simplify]: Simplify (+ 0) into 0 27.295 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.295 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.296 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.296 * [backup-simplify]: Simplify (- 0) into 0 27.297 * [backup-simplify]: Simplify (+ 0 0) into 0 27.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 27.297 * [backup-simplify]: Simplify (+ 0) into 0 27.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.298 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.298 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.298 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.299 * [backup-simplify]: Simplify (+ 0 0) into 0 27.299 * [backup-simplify]: Simplify (+ 0) into 0 27.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.299 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.300 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.300 * [backup-simplify]: Simplify (- 0) into 0 27.301 * [backup-simplify]: Simplify (+ 0 0) into 0 27.301 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.301 * [backup-simplify]: Simplify (+ 0) into 0 27.301 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.302 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.302 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.303 * [backup-simplify]: Simplify (- 0) into 0 27.303 * [backup-simplify]: Simplify (+ 0 0) into 0 27.303 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 27.303 * [backup-simplify]: Simplify (+ 0) into 0 27.304 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.304 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.305 * [backup-simplify]: Simplify (+ 0 0) into 0 27.305 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 27.305 * [backup-simplify]: Simplify (+ 0 0) into 0 27.306 * [backup-simplify]: Simplify (- 0) into 0 27.306 * [backup-simplify]: Simplify (+ 0 0) into 0 27.308 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 27.310 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 27.315 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 27.317 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 27.317 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))))) in lambda2 27.322 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 27.322 * [taylor]: Taking taylor expansion of 3/2 in lambda2 27.322 * [backup-simplify]: Simplify 3/2 into 3/2 27.322 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 27.322 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 27.322 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) in lambda2 27.322 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.322 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.322 * [backup-simplify]: Simplify -0.5 into -0.5 27.322 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.322 * [backup-simplify]: Simplify phi2 into phi2 27.322 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.322 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.322 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.322 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3))) in lambda2 27.322 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.322 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.322 * [backup-simplify]: Simplify -0.5 into -0.5 27.322 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.322 * [backup-simplify]: Simplify phi1 into phi1 27.322 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.322 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.322 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.322 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)) in lambda2 27.322 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2 27.323 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.323 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.323 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.323 * [backup-simplify]: Simplify -0.5 into -0.5 27.323 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.323 * [backup-simplify]: Simplify phi1 into phi1 27.323 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.323 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.323 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.323 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.323 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2 27.323 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.323 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.323 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.323 * [backup-simplify]: Simplify -0.5 into -0.5 27.323 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.323 * [backup-simplify]: Simplify phi2 into phi2 27.323 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.323 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.323 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.323 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.323 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 27.323 * [taylor]: Taking taylor expansion of R in lambda2 27.323 * [backup-simplify]: Simplify R into R 27.323 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 27.324 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 27.324 * [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 27.324 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.324 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.324 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.324 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.324 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.324 * [backup-simplify]: Simplify -0.5 into -0.5 27.324 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.324 * [backup-simplify]: Simplify phi2 into phi2 27.324 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.324 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.324 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.324 * [backup-simplify]: Simplify (- 0) into 0 27.325 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.325 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.325 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.325 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.325 * [backup-simplify]: Simplify -0.5 into -0.5 27.325 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.325 * [backup-simplify]: Simplify phi1 into phi1 27.325 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.325 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.325 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.325 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.325 * [backup-simplify]: Simplify (- 0) into 0 27.325 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.325 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.325 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.325 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.325 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.325 * [backup-simplify]: Simplify -0.5 into -0.5 27.325 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.325 * [backup-simplify]: Simplify phi2 into phi2 27.326 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.326 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.326 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.326 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.326 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.326 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.326 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.326 * [backup-simplify]: Simplify -0.5 into -0.5 27.326 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.326 * [backup-simplify]: Simplify phi1 into phi1 27.326 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.326 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.326 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.327 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.327 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 27.327 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.327 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.327 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.327 * [backup-simplify]: Simplify -0.5 into -0.5 27.327 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.327 * [backup-simplify]: Simplify phi2 into phi2 27.327 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.327 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.327 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.327 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.327 * [backup-simplify]: Simplify -0.5 into -0.5 27.327 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.327 * [backup-simplify]: Simplify phi2 into phi2 27.327 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.327 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.327 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.327 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.327 * [backup-simplify]: Simplify -0.5 into -0.5 27.327 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.327 * [backup-simplify]: Simplify phi1 into phi1 27.327 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.327 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.327 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.327 * [backup-simplify]: Simplify -0.5 into -0.5 27.327 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.327 * [backup-simplify]: Simplify phi1 into phi1 27.327 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.328 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.328 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.328 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.328 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.328 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.328 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.328 * [backup-simplify]: Simplify -0.5 into -0.5 27.328 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.328 * [backup-simplify]: Simplify phi2 into phi2 27.328 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.328 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.328 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.328 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.328 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.328 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.328 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.328 * [backup-simplify]: Simplify -0.5 into -0.5 27.328 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.328 * [backup-simplify]: Simplify phi2 into phi2 27.328 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.328 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.328 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.328 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.328 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.328 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.328 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.328 * [backup-simplify]: Simplify -0.5 into -0.5 27.328 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.328 * [backup-simplify]: Simplify phi1 into phi1 27.328 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.328 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.328 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.328 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.328 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.328 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.328 * [backup-simplify]: Simplify -0.5 into -0.5 27.328 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.329 * [backup-simplify]: Simplify phi1 into phi1 27.329 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.329 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.329 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.329 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 27.329 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.329 * [backup-simplify]: Simplify 0 into 0 27.329 * [backup-simplify]: Simplify 1 into 1 27.329 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.329 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.329 * [backup-simplify]: Simplify (- 0) into 0 27.329 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.329 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.329 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.330 * [backup-simplify]: Simplify (- 0) into 0 27.330 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3) 27.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3) 27.330 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)) into (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)) 27.331 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3))) into (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))) 27.331 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) into (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) 27.331 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.331 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.331 * [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)) 27.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.332 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.332 * [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)) 27.332 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 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))) 27.332 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.332 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.333 * [backup-simplify]: Simplify (- 0) into 0 27.333 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.333 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.333 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.333 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.333 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.333 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.333 * [backup-simplify]: Simplify (- 0) into 0 27.333 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.334 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.334 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.334 * [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)))) 27.334 * [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))))) 27.334 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.334 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.334 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.335 * [backup-simplify]: Simplify (- 0) into 0 27.335 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.335 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.335 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.335 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.335 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.335 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.335 * [backup-simplify]: Simplify (- 0) into 0 27.335 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.336 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.336 * [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)))) 27.336 * [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))))) 27.337 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.337 * [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))))))) 27.339 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 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))))))) 27.340 * [backup-simplify]: Simplify (* 1 1) into 1 27.340 * [backup-simplify]: Simplify (* 1 1) into 1 27.342 * [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))))))) 1) 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))))))) 27.344 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 27.346 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 27.346 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 27.346 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 27.347 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 27.347 * [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 27.347 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.347 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.347 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.347 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.347 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.347 * [backup-simplify]: Simplify -0.5 into -0.5 27.347 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.347 * [backup-simplify]: Simplify phi2 into phi2 27.347 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.347 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.347 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.347 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.347 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.348 * [backup-simplify]: Simplify (- 0) into 0 27.348 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.348 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.348 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.348 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.348 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.348 * [backup-simplify]: Simplify -0.5 into -0.5 27.348 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.348 * [backup-simplify]: Simplify phi1 into phi1 27.348 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.348 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.348 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.348 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.348 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.349 * [backup-simplify]: Simplify (- 0) into 0 27.349 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.349 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.349 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.349 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.349 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.349 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.349 * [backup-simplify]: Simplify -0.5 into -0.5 27.349 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.349 * [backup-simplify]: Simplify phi2 into phi2 27.349 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.349 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.349 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.349 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.349 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.349 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.349 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.349 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.349 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.349 * [backup-simplify]: Simplify -0.5 into -0.5 27.349 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.349 * [backup-simplify]: Simplify phi1 into phi1 27.349 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.349 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.349 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.350 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.350 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.350 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.350 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 27.350 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.350 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.350 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.350 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.350 * [backup-simplify]: Simplify -0.5 into -0.5 27.350 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.350 * [backup-simplify]: Simplify phi2 into phi2 27.350 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.350 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.350 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.350 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.350 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.350 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.350 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.350 * [backup-simplify]: Simplify -0.5 into -0.5 27.350 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.350 * [backup-simplify]: Simplify phi2 into phi2 27.350 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.350 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.350 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.350 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.350 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.350 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.350 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.350 * [backup-simplify]: Simplify -0.5 into -0.5 27.350 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.350 * [backup-simplify]: Simplify phi1 into phi1 27.350 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.350 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.350 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.350 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.351 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.351 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.351 * [backup-simplify]: Simplify -0.5 into -0.5 27.351 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.351 * [backup-simplify]: Simplify phi1 into phi1 27.351 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.351 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.351 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.351 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.351 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.351 * [backup-simplify]: Simplify -0.5 into -0.5 27.351 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.351 * [backup-simplify]: Simplify phi2 into phi2 27.351 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.351 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.351 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.351 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.351 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.351 * [backup-simplify]: Simplify -0.5 into -0.5 27.351 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.351 * [backup-simplify]: Simplify phi2 into phi2 27.351 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.351 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.351 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.351 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.351 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.351 * [backup-simplify]: Simplify -0.5 into -0.5 27.351 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.351 * [backup-simplify]: Simplify phi1 into phi1 27.351 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.352 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.352 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.352 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.352 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.352 * [backup-simplify]: Simplify -0.5 into -0.5 27.352 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.352 * [backup-simplify]: Simplify phi1 into phi1 27.352 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.352 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.352 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.352 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.352 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.352 * [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)) 27.352 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.352 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.353 * [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)) 27.353 * [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))) 27.353 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.353 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.353 * [backup-simplify]: Simplify (- 0) into 0 27.354 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.354 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.354 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.354 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.354 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.354 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.354 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.354 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.354 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.354 * [backup-simplify]: Simplify (- 0) into 0 27.354 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.355 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.355 * [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)))) 27.355 * [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))))) 27.355 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.355 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.355 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.355 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.355 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.355 * [backup-simplify]: Simplify (- 0) into 0 27.355 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.356 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.356 * [backup-simplify]: Simplify (- 0) into 0 27.356 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.356 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.356 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.356 * [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)))) 27.357 * [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))))) 27.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.357 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.359 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.360 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 27.361 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.362 * [backup-simplify]: Simplify (+ 0) into 0 27.362 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.362 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.364 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.364 * [backup-simplify]: Simplify (- 0) into 0 27.364 * [backup-simplify]: Simplify (+ 0 0) into 0 27.365 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.365 * [backup-simplify]: Simplify (+ 0) into 0 27.365 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.366 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.367 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.367 * [backup-simplify]: Simplify (- 0) into 0 27.368 * [backup-simplify]: Simplify (+ 0 0) into 0 27.368 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.368 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.369 * [backup-simplify]: Simplify (+ 0) into 0 27.369 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.370 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.371 * [backup-simplify]: Simplify (+ 0 0) into 0 27.371 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.371 * [backup-simplify]: Simplify (+ 0) into 0 27.372 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.372 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.374 * [backup-simplify]: Simplify (+ 0 0) into 0 27.374 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.374 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.375 * [backup-simplify]: Simplify (+ 0 0) into 0 27.375 * [backup-simplify]: Simplify (+ 0) into 0 27.376 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.376 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.377 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.377 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.377 * [backup-simplify]: Simplify (- 0) into 0 27.377 * [backup-simplify]: Simplify (+ 0 0) into 0 27.378 * [backup-simplify]: Simplify (+ 0) into 0 27.378 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.378 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.379 * [backup-simplify]: Simplify (+ 0 0) into 0 27.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.380 * [backup-simplify]: Simplify (+ 0) into 0 27.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.380 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.381 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.382 * [backup-simplify]: Simplify (+ 0 0) into 0 27.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 27.382 * [backup-simplify]: Simplify (+ 0) into 0 27.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.383 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.384 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.384 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.384 * [backup-simplify]: Simplify (- 0) into 0 27.385 * [backup-simplify]: Simplify (+ 0 0) into 0 27.385 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 27.386 * [backup-simplify]: Simplify (+ 0) into 0 27.386 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.386 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.387 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.388 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.388 * [backup-simplify]: Simplify (+ 0 0) into 0 27.388 * [backup-simplify]: Simplify (+ 0) into 0 27.389 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.389 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.390 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.390 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.390 * [backup-simplify]: Simplify (- 0) into 0 27.390 * [backup-simplify]: Simplify (+ 0 0) into 0 27.391 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.391 * [backup-simplify]: Simplify (+ 0) into 0 27.391 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.391 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.392 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.392 * [backup-simplify]: Simplify (- 0) into 0 27.393 * [backup-simplify]: Simplify (+ 0 0) into 0 27.393 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 27.393 * [backup-simplify]: Simplify (+ 0) into 0 27.393 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.394 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.395 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.395 * [backup-simplify]: Simplify (+ 0 0) into 0 27.395 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 27.395 * [backup-simplify]: Simplify (+ 0 0) into 0 27.396 * [backup-simplify]: Simplify (- 0) into 0 27.396 * [backup-simplify]: Simplify (+ 0 0) into 0 27.398 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 27.399 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 27.399 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))))) in lambda2 27.399 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 27.399 * [taylor]: Taking taylor expansion of 1/2 in lambda2 27.399 * [backup-simplify]: Simplify 1/2 into 1/2 27.399 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 27.400 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 27.400 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda2 27.400 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.400 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.400 * [backup-simplify]: Simplify -0.5 into -0.5 27.400 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.400 * [backup-simplify]: Simplify phi1 into phi1 27.400 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.400 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda2 27.400 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.400 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.400 * [backup-simplify]: Simplify -0.5 into -0.5 27.400 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.400 * [backup-simplify]: Simplify phi2 into phi2 27.400 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.400 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda2 27.400 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.400 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.400 * [backup-simplify]: Simplify -0.5 into -0.5 27.400 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.400 * [backup-simplify]: Simplify phi1 into phi1 27.400 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.400 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.400 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.400 * [backup-simplify]: Simplify -0.5 into -0.5 27.400 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.401 * [backup-simplify]: Simplify phi2 into phi2 27.401 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.401 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.401 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.401 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 27.401 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 27.401 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.401 * [backup-simplify]: Simplify phi2 into phi2 27.401 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 27.401 * [taylor]: Taking taylor expansion of R in lambda2 27.401 * [backup-simplify]: Simplify R into R 27.401 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 27.401 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 27.401 * [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 27.401 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.401 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.401 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.401 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.401 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.401 * [backup-simplify]: Simplify -0.5 into -0.5 27.401 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.401 * [backup-simplify]: Simplify phi2 into phi2 27.401 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.401 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.401 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.401 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.401 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.402 * [backup-simplify]: Simplify (- 0) into 0 27.402 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.402 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.402 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.402 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.402 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.402 * [backup-simplify]: Simplify -0.5 into -0.5 27.402 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.402 * [backup-simplify]: Simplify phi1 into phi1 27.402 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.402 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.402 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.402 * [backup-simplify]: Simplify (- 0) into 0 27.402 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.402 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.402 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.403 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.403 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.403 * [backup-simplify]: Simplify -0.5 into -0.5 27.403 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.403 * [backup-simplify]: Simplify phi2 into phi2 27.403 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.403 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.403 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.403 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.403 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.403 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.403 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.403 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.403 * [backup-simplify]: Simplify -0.5 into -0.5 27.403 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.403 * [backup-simplify]: Simplify phi1 into phi1 27.403 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.403 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.403 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.403 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.403 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.403 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 27.403 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.403 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.404 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.404 * [backup-simplify]: Simplify -0.5 into -0.5 27.404 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.404 * [backup-simplify]: Simplify phi2 into phi2 27.404 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.404 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.404 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.404 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.404 * [backup-simplify]: Simplify -0.5 into -0.5 27.404 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.404 * [backup-simplify]: Simplify phi2 into phi2 27.404 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.404 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.404 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.404 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.404 * [backup-simplify]: Simplify -0.5 into -0.5 27.404 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.404 * [backup-simplify]: Simplify phi1 into phi1 27.404 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.404 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.404 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.404 * [backup-simplify]: Simplify -0.5 into -0.5 27.404 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.404 * [backup-simplify]: Simplify phi1 into phi1 27.404 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.405 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.405 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.405 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.405 * [backup-simplify]: Simplify -0.5 into -0.5 27.405 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.405 * [backup-simplify]: Simplify phi2 into phi2 27.405 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.405 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.405 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.405 * [backup-simplify]: Simplify -0.5 into -0.5 27.405 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.405 * [backup-simplify]: Simplify phi2 into phi2 27.405 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.405 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.405 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.405 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.405 * [backup-simplify]: Simplify -0.5 into -0.5 27.405 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.405 * [backup-simplify]: Simplify phi1 into phi1 27.405 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.405 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.405 * [backup-simplify]: Simplify -0.5 into -0.5 27.405 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.405 * [backup-simplify]: Simplify phi1 into phi1 27.405 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.406 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.406 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.406 * [backup-simplify]: Simplify 0 into 0 27.406 * [backup-simplify]: Simplify 1 into 1 27.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.406 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.406 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.406 * [backup-simplify]: Simplify (- 0) into 0 27.406 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.407 * [backup-simplify]: Simplify (- 0) into 0 27.407 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 27.407 * [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)))) 27.407 * [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))))) 27.407 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 27.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.408 * [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)) 27.408 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.408 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.408 * [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)) 27.409 * [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))) 27.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.409 * [backup-simplify]: Simplify (- 0) into 0 27.409 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.409 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.410 * [backup-simplify]: Simplify (- 0) into 0 27.410 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.410 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.410 * [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)))) 27.410 * [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))))) 27.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.411 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.411 * [backup-simplify]: Simplify (- 0) into 0 27.411 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.411 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.412 * [backup-simplify]: Simplify (- 0) into 0 27.412 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.412 * [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)))) 27.412 * [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))))) 27.413 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.413 * [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))))))) 27.414 * [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))))))) 27.415 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 27.415 * [backup-simplify]: Simplify (* R 0) into 0 27.415 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 27.416 * [backup-simplify]: Simplify (+ 0) into 0 27.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.416 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.418 * [backup-simplify]: Simplify (- 0) into 0 27.418 * [backup-simplify]: Simplify (+ 0 0) into 0 27.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.419 * [backup-simplify]: Simplify (+ 0) into 0 27.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.420 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.420 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.421 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.421 * [backup-simplify]: Simplify (- 0) into 0 27.421 * [backup-simplify]: Simplify (+ 0 0) into 0 27.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.421 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.422 * [backup-simplify]: Simplify (+ 0) into 0 27.422 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.422 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.423 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.423 * [backup-simplify]: Simplify (+ 0 0) into 0 27.423 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.424 * [backup-simplify]: Simplify (+ 0) into 0 27.424 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.424 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.425 * [backup-simplify]: Simplify (+ 0 0) into 0 27.425 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.426 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.426 * [backup-simplify]: Simplify (+ 0 0) into 0 27.426 * [backup-simplify]: Simplify (+ 0) into 0 27.426 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.428 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.428 * [backup-simplify]: Simplify (+ 0 0) into 0 27.428 * [backup-simplify]: Simplify (+ 0) into 0 27.429 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.429 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.430 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.431 * [backup-simplify]: Simplify (- 0) into 0 27.431 * [backup-simplify]: Simplify (+ 0 0) into 0 27.431 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.432 * [backup-simplify]: Simplify (+ 0) into 0 27.432 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.433 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.434 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.434 * [backup-simplify]: Simplify (+ 0 0) into 0 27.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 27.435 * [backup-simplify]: Simplify (+ 0) into 0 27.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.436 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.437 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.437 * [backup-simplify]: Simplify (- 0) into 0 27.438 * [backup-simplify]: Simplify (+ 0 0) into 0 27.438 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 27.438 * [backup-simplify]: Simplify (+ 0) into 0 27.439 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.439 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.441 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.441 * [backup-simplify]: Simplify (- 0) into 0 27.441 * [backup-simplify]: Simplify (+ 0 0) into 0 27.442 * [backup-simplify]: Simplify (+ 0) into 0 27.442 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.444 * [backup-simplify]: Simplify (+ 0 0) into 0 27.444 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.445 * [backup-simplify]: Simplify (+ 0) into 0 27.445 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.445 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.446 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.447 * [backup-simplify]: Simplify (- 0) into 0 27.447 * [backup-simplify]: Simplify (+ 0 0) into 0 27.448 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 27.448 * [backup-simplify]: Simplify (+ 0) into 0 27.449 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.449 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.450 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.450 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.450 * [backup-simplify]: Simplify (+ 0 0) into 0 27.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 27.451 * [backup-simplify]: Simplify (+ 0 0) into 0 27.451 * [backup-simplify]: Simplify (- 0) into 0 27.452 * [backup-simplify]: Simplify (+ 0 0) into 0 27.454 * [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))))))) 1) (* 0 0)) 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))))))) 27.463 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 27.463 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 27.467 * [backup-simplify]: Simplify (+ (* (pow phi2 2) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) 27.471 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) into (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) 27.471 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 27.472 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 27.472 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 27.472 * [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 27.472 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.472 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.472 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.472 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.472 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.472 * [backup-simplify]: Simplify -0.5 into -0.5 27.472 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.472 * [backup-simplify]: Simplify phi2 into phi2 27.472 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.472 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.472 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.472 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.473 * [backup-simplify]: Simplify (- 0) into 0 27.473 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.473 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.473 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.473 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.473 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.473 * [backup-simplify]: Simplify -0.5 into -0.5 27.473 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.473 * [backup-simplify]: Simplify phi1 into phi1 27.473 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.473 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.473 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.473 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.473 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.474 * [backup-simplify]: Simplify (- 0) into 0 27.474 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.474 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.474 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.474 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.474 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.474 * [backup-simplify]: Simplify -0.5 into -0.5 27.474 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.474 * [backup-simplify]: Simplify phi2 into phi2 27.474 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.474 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.474 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.474 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.474 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.474 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.474 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.474 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.474 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.475 * [backup-simplify]: Simplify -0.5 into -0.5 27.475 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.475 * [backup-simplify]: Simplify phi1 into phi1 27.475 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.475 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.475 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.475 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.475 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 27.475 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.475 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.475 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.475 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.475 * [backup-simplify]: Simplify -0.5 into -0.5 27.475 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.475 * [backup-simplify]: Simplify phi2 into phi2 27.475 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.475 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.475 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.475 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.475 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.475 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.475 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.475 * [backup-simplify]: Simplify -0.5 into -0.5 27.475 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.475 * [backup-simplify]: Simplify phi2 into phi2 27.475 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.476 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.476 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.476 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.476 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.476 * [backup-simplify]: Simplify -0.5 into -0.5 27.476 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.476 * [backup-simplify]: Simplify phi1 into phi1 27.476 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.476 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.476 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.476 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.476 * [backup-simplify]: Simplify -0.5 into -0.5 27.476 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.476 * [backup-simplify]: Simplify phi1 into phi1 27.476 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.476 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.476 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.476 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.476 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.476 * [backup-simplify]: Simplify -0.5 into -0.5 27.476 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.476 * [backup-simplify]: Simplify phi2 into phi2 27.476 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.477 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.477 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.477 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.477 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.477 * [backup-simplify]: Simplify -0.5 into -0.5 27.477 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.477 * [backup-simplify]: Simplify phi2 into phi2 27.477 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.477 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.477 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.477 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.477 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.477 * [backup-simplify]: Simplify -0.5 into -0.5 27.477 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.477 * [backup-simplify]: Simplify phi1 into phi1 27.477 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.477 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.477 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.477 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.477 * [backup-simplify]: Simplify -0.5 into -0.5 27.477 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.477 * [backup-simplify]: Simplify phi1 into phi1 27.478 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.478 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.478 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.478 * [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)) 27.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.478 * [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)) 27.479 * [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))) 27.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.479 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.479 * [backup-simplify]: Simplify (- 0) into 0 27.480 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.480 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.480 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.480 * [backup-simplify]: Simplify (- 0) into 0 27.480 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.481 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.481 * [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)))) 27.481 * [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))))) 27.481 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.481 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.481 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.481 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.481 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.481 * [backup-simplify]: Simplify (- 0) into 0 27.482 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.482 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.482 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.482 * [backup-simplify]: Simplify (- 0) into 0 27.482 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.482 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.482 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.482 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.482 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.482 * [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)))) 27.483 * [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))))) 27.483 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.484 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.485 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.487 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 27.489 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.490 * [backup-simplify]: Simplify (+ 0) into 0 27.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.490 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.492 * [backup-simplify]: Simplify (- 0) into 0 27.492 * [backup-simplify]: Simplify (+ 0 0) into 0 27.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.493 * [backup-simplify]: Simplify (+ 0) into 0 27.493 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.493 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.495 * [backup-simplify]: Simplify (- 0) into 0 27.495 * [backup-simplify]: Simplify (+ 0 0) into 0 27.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.496 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.496 * [backup-simplify]: Simplify (+ 0) into 0 27.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.497 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.499 * [backup-simplify]: Simplify (+ 0 0) into 0 27.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.499 * [backup-simplify]: Simplify (+ 0) into 0 27.500 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.500 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.501 * [backup-simplify]: Simplify (+ 0 0) into 0 27.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.502 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.502 * [backup-simplify]: Simplify (+ 0 0) into 0 27.503 * [backup-simplify]: Simplify (+ 0) into 0 27.503 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.503 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.505 * [backup-simplify]: Simplify (- 0) into 0 27.506 * [backup-simplify]: Simplify (+ 0 0) into 0 27.506 * [backup-simplify]: Simplify (+ 0) into 0 27.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.507 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.508 * [backup-simplify]: Simplify (+ 0 0) into 0 27.508 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.509 * [backup-simplify]: Simplify (+ 0) into 0 27.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.509 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.511 * [backup-simplify]: Simplify (+ 0 0) into 0 27.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 27.512 * [backup-simplify]: Simplify (+ 0) into 0 27.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.513 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.514 * [backup-simplify]: Simplify (- 0) into 0 27.514 * [backup-simplify]: Simplify (+ 0 0) into 0 27.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 27.515 * [backup-simplify]: Simplify (+ 0) into 0 27.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.516 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.517 * [backup-simplify]: Simplify (+ 0 0) into 0 27.518 * [backup-simplify]: Simplify (+ 0) into 0 27.518 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.520 * [backup-simplify]: Simplify (- 0) into 0 27.520 * [backup-simplify]: Simplify (+ 0 0) into 0 27.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.521 * [backup-simplify]: Simplify (+ 0) into 0 27.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.522 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.523 * [backup-simplify]: Simplify (- 0) into 0 27.523 * [backup-simplify]: Simplify (+ 0 0) into 0 27.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 27.523 * [backup-simplify]: Simplify (+ 0) into 0 27.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.524 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.525 * [backup-simplify]: Simplify (+ 0 0) into 0 27.525 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 27.525 * [backup-simplify]: Simplify (+ 0 0) into 0 27.526 * [backup-simplify]: Simplify (- 0) into 0 27.526 * [backup-simplify]: Simplify (+ 0 0) into 0 27.528 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 27.529 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 27.529 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))))) in lambda2 27.530 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 27.530 * [taylor]: Taking taylor expansion of 3/2 in lambda2 27.530 * [backup-simplify]: Simplify 3/2 into 3/2 27.530 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 27.530 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 27.530 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) in lambda2 27.530 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.530 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.530 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.530 * [backup-simplify]: Simplify -0.5 into -0.5 27.530 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.530 * [backup-simplify]: Simplify phi1 into phi1 27.530 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.530 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.530 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.530 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.530 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.530 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4))) in lambda2 27.530 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2 27.530 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.530 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.531 * [backup-simplify]: Simplify -0.5 into -0.5 27.531 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.531 * [backup-simplify]: Simplify phi2 into phi2 27.531 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.531 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.531 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.531 * [backup-simplify]: Simplify (- 0) into 0 27.531 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.531 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)) in lambda2 27.531 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.531 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.531 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.531 * [backup-simplify]: Simplify -0.5 into -0.5 27.531 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.531 * [backup-simplify]: Simplify phi2 into phi2 27.531 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.532 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.532 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.532 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2 27.532 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.532 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.532 * [backup-simplify]: Simplify -0.5 into -0.5 27.532 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.532 * [backup-simplify]: Simplify phi1 into phi1 27.532 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.532 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.532 * [backup-simplify]: Simplify (- 0) into 0 27.532 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.532 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 27.533 * [taylor]: Taking taylor expansion of R in lambda2 27.533 * [backup-simplify]: Simplify R into R 27.533 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 27.533 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 27.533 * [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 27.533 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.533 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.533 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.533 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.533 * [backup-simplify]: Simplify -0.5 into -0.5 27.533 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.533 * [backup-simplify]: Simplify phi2 into phi2 27.533 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.533 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.533 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.533 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.533 * [backup-simplify]: Simplify (- 0) into 0 27.533 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.533 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.533 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.533 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.533 * [backup-simplify]: Simplify -0.5 into -0.5 27.533 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.533 * [backup-simplify]: Simplify phi1 into phi1 27.534 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.534 * [backup-simplify]: Simplify (- 0) into 0 27.534 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.534 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.534 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.534 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.534 * [backup-simplify]: Simplify -0.5 into -0.5 27.534 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.534 * [backup-simplify]: Simplify phi2 into phi2 27.534 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.535 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.535 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.535 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.535 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.535 * [backup-simplify]: Simplify -0.5 into -0.5 27.535 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.535 * [backup-simplify]: Simplify phi1 into phi1 27.535 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.535 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.535 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 27.535 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.535 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.535 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.535 * [backup-simplify]: Simplify -0.5 into -0.5 27.535 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.535 * [backup-simplify]: Simplify phi2 into phi2 27.535 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.535 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.535 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.535 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.535 * [backup-simplify]: Simplify -0.5 into -0.5 27.535 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.535 * [backup-simplify]: Simplify phi2 into phi2 27.535 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.536 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.536 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.536 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.536 * [backup-simplify]: Simplify -0.5 into -0.5 27.536 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.536 * [backup-simplify]: Simplify phi1 into phi1 27.536 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.536 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.536 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.536 * [backup-simplify]: Simplify -0.5 into -0.5 27.536 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.536 * [backup-simplify]: Simplify phi1 into phi1 27.536 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.536 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.536 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.536 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.536 * [backup-simplify]: Simplify -0.5 into -0.5 27.536 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.536 * [backup-simplify]: Simplify phi2 into phi2 27.536 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.536 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.536 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.536 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.537 * [backup-simplify]: Simplify -0.5 into -0.5 27.537 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.537 * [backup-simplify]: Simplify phi2 into phi2 27.537 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.537 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.537 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.537 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.537 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.537 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.537 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.537 * [backup-simplify]: Simplify -0.5 into -0.5 27.537 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.537 * [backup-simplify]: Simplify phi1 into phi1 27.537 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.537 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.537 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.537 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.537 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.537 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.537 * [backup-simplify]: Simplify -0.5 into -0.5 27.537 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.537 * [backup-simplify]: Simplify phi1 into phi1 27.537 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.537 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.537 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.537 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 27.537 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.537 * [backup-simplify]: Simplify 0 into 0 27.537 * [backup-simplify]: Simplify 1 into 1 27.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.538 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4) 27.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.538 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4) 27.538 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)) 27.539 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4))) into (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi2)) 2))) 27.539 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi2)) 2)))) into (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi2)) 2)))) 27.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.539 * [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)) 27.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.540 * [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)) 27.540 * [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))) 27.540 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.541 * [backup-simplify]: Simplify (- 0) into 0 27.541 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.541 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.541 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.541 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.541 * [backup-simplify]: Simplify (- 0) into 0 27.541 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.542 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.542 * [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)))) 27.542 * [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))))) 27.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.542 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.543 * [backup-simplify]: Simplify (- 0) into 0 27.543 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.543 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.543 * [backup-simplify]: Simplify (- 0) into 0 27.543 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.544 * [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)))) 27.544 * [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))))) 27.544 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.545 * [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))))))) 27.546 * [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))))))) 27.546 * [backup-simplify]: Simplify (* 1 1) into 1 27.546 * [backup-simplify]: Simplify (* 1 1) into 1 27.547 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 1) 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))))))) 27.549 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 27.551 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi2)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 27.552 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 27.552 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 27.552 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 27.552 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 27.552 * [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 27.552 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.552 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.552 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.552 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.552 * [backup-simplify]: Simplify -0.5 into -0.5 27.552 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.552 * [backup-simplify]: Simplify phi2 into phi2 27.552 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.552 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.552 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.553 * [backup-simplify]: Simplify (- 0) into 0 27.553 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.553 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.553 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.553 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.553 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.553 * [backup-simplify]: Simplify -0.5 into -0.5 27.553 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.553 * [backup-simplify]: Simplify phi1 into phi1 27.554 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.554 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.554 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.554 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.554 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.554 * [backup-simplify]: Simplify (- 0) into 0 27.554 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.555 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.555 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.555 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.555 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.555 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.555 * [backup-simplify]: Simplify -0.5 into -0.5 27.555 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.555 * [backup-simplify]: Simplify phi2 into phi2 27.555 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.555 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.555 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.555 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.555 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.555 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.555 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.555 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.555 * [backup-simplify]: Simplify -0.5 into -0.5 27.556 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.556 * [backup-simplify]: Simplify phi1 into phi1 27.556 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.556 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.556 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.556 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.556 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 27.556 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.556 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.556 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.556 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.556 * [backup-simplify]: Simplify -0.5 into -0.5 27.556 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.556 * [backup-simplify]: Simplify phi2 into phi2 27.556 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.557 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.557 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.557 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.557 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.557 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.557 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.557 * [backup-simplify]: Simplify -0.5 into -0.5 27.557 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.557 * [backup-simplify]: Simplify phi2 into phi2 27.557 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.557 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.557 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.557 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.557 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.557 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.557 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.557 * [backup-simplify]: Simplify -0.5 into -0.5 27.557 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.557 * [backup-simplify]: Simplify phi1 into phi1 27.557 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.557 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.558 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.558 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.558 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.558 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.558 * [backup-simplify]: Simplify -0.5 into -0.5 27.558 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.558 * [backup-simplify]: Simplify phi1 into phi1 27.558 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.558 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.558 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.558 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.558 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.558 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.558 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.558 * [backup-simplify]: Simplify -0.5 into -0.5 27.558 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.558 * [backup-simplify]: Simplify phi2 into phi2 27.558 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.558 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.558 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.558 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.558 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.558 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.558 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.559 * [backup-simplify]: Simplify -0.5 into -0.5 27.559 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.559 * [backup-simplify]: Simplify phi2 into phi2 27.559 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.559 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.559 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.559 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.559 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.559 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.559 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.559 * [backup-simplify]: Simplify -0.5 into -0.5 27.559 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.559 * [backup-simplify]: Simplify phi1 into phi1 27.559 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.559 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.559 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.559 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.559 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.559 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.559 * [backup-simplify]: Simplify -0.5 into -0.5 27.559 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.559 * [backup-simplify]: Simplify phi1 into phi1 27.559 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.560 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.560 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.560 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.560 * [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)) 27.561 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.561 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.561 * [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)) 27.562 * [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))) 27.562 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.562 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.563 * [backup-simplify]: Simplify (- 0) into 0 27.563 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.563 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.563 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.563 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.563 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.563 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.563 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.563 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.564 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.564 * [backup-simplify]: Simplify (- 0) into 0 27.564 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.564 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.565 * [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)))) 27.565 * [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))))) 27.565 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.565 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.565 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.565 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.565 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.566 * [backup-simplify]: Simplify (- 0) into 0 27.566 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.566 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.566 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.567 * [backup-simplify]: Simplify (- 0) into 0 27.567 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.567 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.567 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.567 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.567 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.567 * [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)))) 27.568 * [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))))) 27.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.569 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.571 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.575 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 27.578 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 27.580 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.582 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.583 * [backup-simplify]: Simplify (+ 0) into 0 27.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.584 * [backup-simplify]: Simplify (- 0) into 0 27.584 * [backup-simplify]: Simplify (+ 0 0) into 0 27.584 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.585 * [backup-simplify]: Simplify (+ 0) into 0 27.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.585 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.586 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.586 * [backup-simplify]: Simplify (- 0) into 0 27.586 * [backup-simplify]: Simplify (+ 0 0) into 0 27.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.587 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.587 * [backup-simplify]: Simplify (+ 0) into 0 27.587 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.588 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.588 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.589 * [backup-simplify]: Simplify (+ 0 0) into 0 27.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.589 * [backup-simplify]: Simplify (+ 0) into 0 27.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.590 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.590 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.591 * [backup-simplify]: Simplify (+ 0 0) into 0 27.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.591 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.591 * [backup-simplify]: Simplify (+ 0 0) into 0 27.591 * [backup-simplify]: Simplify (+ 0) into 0 27.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.592 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.593 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.593 * [backup-simplify]: Simplify (- 0) into 0 27.593 * [backup-simplify]: Simplify (+ 0 0) into 0 27.594 * [backup-simplify]: Simplify (+ 0) into 0 27.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.594 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.595 * [backup-simplify]: Simplify (+ 0 0) into 0 27.595 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.595 * [backup-simplify]: Simplify (+ 0) into 0 27.596 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.596 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.596 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.597 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.597 * [backup-simplify]: Simplify (+ 0 0) into 0 27.597 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 27.597 * [backup-simplify]: Simplify (+ 0) into 0 27.598 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.598 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.602 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.603 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.603 * [backup-simplify]: Simplify (- 0) into 0 27.603 * [backup-simplify]: Simplify (+ 0 0) into 0 27.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 27.604 * [backup-simplify]: Simplify (+ 0) into 0 27.604 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.605 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.606 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.606 * [backup-simplify]: Simplify (+ 0 0) into 0 27.607 * [backup-simplify]: Simplify (+ 0) into 0 27.607 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.607 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.608 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.608 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.609 * [backup-simplify]: Simplify (- 0) into 0 27.609 * [backup-simplify]: Simplify (+ 0 0) into 0 27.609 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.609 * [backup-simplify]: Simplify (+ 0) into 0 27.610 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.610 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.610 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.611 * [backup-simplify]: Simplify (- 0) into 0 27.611 * [backup-simplify]: Simplify (+ 0 0) into 0 27.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 27.611 * [backup-simplify]: Simplify (+ 0) into 0 27.612 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.612 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.612 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.613 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.613 * [backup-simplify]: Simplify (+ 0 0) into 0 27.613 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 27.613 * [backup-simplify]: Simplify (+ 0 0) into 0 27.614 * [backup-simplify]: Simplify (- 0) into 0 27.614 * [backup-simplify]: Simplify (+ 0 0) into 0 27.616 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 27.619 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 27.628 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 27.631 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 27.631 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))) in lambda2 27.631 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 27.631 * [taylor]: Taking taylor expansion of 3/2 in lambda2 27.631 * [backup-simplify]: Simplify 3/2 into 3/2 27.631 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 27.631 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 27.631 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) in lambda2 27.631 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.631 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.631 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.631 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.631 * [backup-simplify]: Simplify -0.5 into -0.5 27.631 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.631 * [backup-simplify]: Simplify phi2 into phi2 27.631 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.631 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.631 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.632 * [backup-simplify]: Simplify (- 0) into 0 27.632 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.632 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4))) in lambda2 27.632 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2 27.632 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.632 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.632 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.632 * [backup-simplify]: Simplify -0.5 into -0.5 27.632 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.632 * [backup-simplify]: Simplify phi1 into phi1 27.632 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.632 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.632 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.633 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.633 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)) in lambda2 27.633 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.633 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.633 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.633 * [backup-simplify]: Simplify -0.5 into -0.5 27.633 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.633 * [backup-simplify]: Simplify phi1 into phi1 27.633 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.633 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.633 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.633 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.633 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.633 * [backup-simplify]: Simplify (- 0) into 0 27.633 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.633 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2 27.633 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.633 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.633 * [backup-simplify]: Simplify -0.5 into -0.5 27.633 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.633 * [backup-simplify]: Simplify phi2 into phi2 27.633 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.634 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.634 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.634 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.634 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.634 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.634 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 27.634 * [taylor]: Taking taylor expansion of R in lambda2 27.634 * [backup-simplify]: Simplify R into R 27.634 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 27.634 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 27.634 * [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 27.634 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.634 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.634 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.634 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.634 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.634 * [backup-simplify]: Simplify -0.5 into -0.5 27.634 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.634 * [backup-simplify]: Simplify phi2 into phi2 27.634 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.634 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.634 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.634 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.634 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.635 * [backup-simplify]: Simplify (- 0) into 0 27.635 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.635 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.635 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.635 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.635 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.635 * [backup-simplify]: Simplify -0.5 into -0.5 27.635 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.635 * [backup-simplify]: Simplify phi1 into phi1 27.635 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.635 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.635 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.635 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.635 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.635 * [backup-simplify]: Simplify (- 0) into 0 27.635 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.635 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.635 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.635 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.635 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.635 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.636 * [backup-simplify]: Simplify -0.5 into -0.5 27.636 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.636 * [backup-simplify]: Simplify phi2 into phi2 27.636 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.636 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.636 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.636 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.636 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.636 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.636 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.636 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.636 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.636 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.636 * [backup-simplify]: Simplify -0.5 into -0.5 27.636 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.636 * [backup-simplify]: Simplify phi1 into phi1 27.636 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.636 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.636 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.636 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.636 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.636 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.636 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 27.636 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.636 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.636 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.636 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.636 * [backup-simplify]: Simplify -0.5 into -0.5 27.637 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.637 * [backup-simplify]: Simplify phi2 into phi2 27.637 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.637 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.637 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.637 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.637 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.637 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.637 * [backup-simplify]: Simplify -0.5 into -0.5 27.637 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.637 * [backup-simplify]: Simplify phi2 into phi2 27.637 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.637 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.637 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.637 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.637 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.637 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.637 * [backup-simplify]: Simplify -0.5 into -0.5 27.637 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.637 * [backup-simplify]: Simplify phi1 into phi1 27.637 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.637 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.637 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.637 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.637 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.637 * [backup-simplify]: Simplify -0.5 into -0.5 27.637 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.637 * [backup-simplify]: Simplify phi1 into phi1 27.637 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.637 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.637 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.637 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.637 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.638 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.638 * [backup-simplify]: Simplify -0.5 into -0.5 27.638 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.638 * [backup-simplify]: Simplify phi2 into phi2 27.638 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.638 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.638 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.638 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.638 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.638 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.638 * [backup-simplify]: Simplify -0.5 into -0.5 27.638 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.638 * [backup-simplify]: Simplify phi2 into phi2 27.638 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.638 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.638 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.638 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.638 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.638 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.638 * [backup-simplify]: Simplify -0.5 into -0.5 27.638 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.638 * [backup-simplify]: Simplify phi1 into phi1 27.638 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.638 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.638 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.638 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.638 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.638 * [backup-simplify]: Simplify -0.5 into -0.5 27.638 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.638 * [backup-simplify]: Simplify phi1 into phi1 27.638 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.638 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.639 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 27.639 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.639 * [backup-simplify]: Simplify 0 into 0 27.639 * [backup-simplify]: Simplify 1 into 1 27.639 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.639 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.639 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4) 27.639 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.639 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.639 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4) 27.640 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)) 27.640 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4))) into (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2))) 27.640 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) into (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) 27.640 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.640 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.641 * [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)) 27.641 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.641 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.641 * [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)) 27.641 * [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))) 27.642 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.642 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.642 * [backup-simplify]: Simplify (- 0) into 0 27.642 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.642 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.642 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.642 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.642 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.642 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.643 * [backup-simplify]: Simplify (- 0) into 0 27.643 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.643 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.643 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.643 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.643 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.643 * [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)))) 27.643 * [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))))) 27.643 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.644 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.644 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.644 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.644 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.644 * [backup-simplify]: Simplify (- 0) into 0 27.644 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.644 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.644 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.644 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.644 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.644 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.645 * [backup-simplify]: Simplify (- 0) into 0 27.645 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.645 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.645 * [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)))) 27.645 * [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))))) 27.646 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.646 * [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))))))) 27.647 * [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))))))) 27.647 * [backup-simplify]: Simplify (* 1 1) into 1 27.648 * [backup-simplify]: Simplify (* 1 1) into 1 27.649 * [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))))))) 1) 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))))))) 27.650 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 27.651 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R)) into (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 27.652 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 27.652 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 27.652 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 27.652 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 27.652 * [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 27.652 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.652 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.652 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.652 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.652 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.652 * [backup-simplify]: Simplify -0.5 into -0.5 27.652 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.652 * [backup-simplify]: Simplify phi2 into phi2 27.652 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.652 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.652 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.652 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.652 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.652 * [backup-simplify]: Simplify (- 0) into 0 27.653 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.653 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.653 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.653 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.653 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.653 * [backup-simplify]: Simplify -0.5 into -0.5 27.653 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.653 * [backup-simplify]: Simplify phi1 into phi1 27.653 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.653 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.653 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.653 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.653 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.653 * [backup-simplify]: Simplify (- 0) into 0 27.653 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.653 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.653 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.653 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.653 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.653 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.653 * [backup-simplify]: Simplify -0.5 into -0.5 27.653 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.653 * [backup-simplify]: Simplify phi2 into phi2 27.654 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.654 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.654 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.654 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.654 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.654 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.654 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.654 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.654 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.654 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.654 * [backup-simplify]: Simplify -0.5 into -0.5 27.654 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.654 * [backup-simplify]: Simplify phi1 into phi1 27.654 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.654 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.654 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.654 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.654 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.654 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.654 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 27.654 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.654 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.654 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.654 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.654 * [backup-simplify]: Simplify -0.5 into -0.5 27.654 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.654 * [backup-simplify]: Simplify phi2 into phi2 27.654 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.655 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.655 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.655 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.655 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.655 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.655 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.655 * [backup-simplify]: Simplify -0.5 into -0.5 27.655 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.655 * [backup-simplify]: Simplify phi2 into phi2 27.655 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.655 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.655 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.655 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.655 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.655 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.655 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.655 * [backup-simplify]: Simplify -0.5 into -0.5 27.655 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.655 * [backup-simplify]: Simplify phi1 into phi1 27.655 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.655 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.655 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.655 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.655 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.655 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.655 * [backup-simplify]: Simplify -0.5 into -0.5 27.655 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.655 * [backup-simplify]: Simplify phi1 into phi1 27.655 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.655 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.655 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.655 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.655 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.655 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.655 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.655 * [backup-simplify]: Simplify -0.5 into -0.5 27.655 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.655 * [backup-simplify]: Simplify phi2 into phi2 27.655 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.656 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.656 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.656 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.656 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.656 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.656 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.656 * [backup-simplify]: Simplify -0.5 into -0.5 27.656 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.656 * [backup-simplify]: Simplify phi2 into phi2 27.656 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.656 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.656 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.656 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.656 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.656 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.656 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.656 * [backup-simplify]: Simplify -0.5 into -0.5 27.656 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.656 * [backup-simplify]: Simplify phi1 into phi1 27.656 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.656 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.656 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.656 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.656 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.656 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.656 * [backup-simplify]: Simplify -0.5 into -0.5 27.656 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.656 * [backup-simplify]: Simplify phi1 into phi1 27.656 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.656 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.656 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.656 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.657 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.657 * [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)) 27.657 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.657 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.657 * [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)) 27.658 * [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))) 27.658 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.658 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.658 * [backup-simplify]: Simplify (- 0) into 0 27.658 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.658 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.658 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.658 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.659 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.659 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.659 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.659 * [backup-simplify]: Simplify (- 0) into 0 27.659 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.659 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.659 * [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)))) 27.660 * [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))))) 27.660 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.660 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.660 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.660 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.660 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.660 * [backup-simplify]: Simplify (- 0) into 0 27.660 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.660 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.660 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.661 * [backup-simplify]: Simplify (- 0) into 0 27.661 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.661 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.661 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.661 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.661 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.661 * [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)))) 27.662 * [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))))) 27.662 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.663 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.665 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.669 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 27.673 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 27.677 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.681 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.682 * [backup-simplify]: Simplify (+ 0) into 0 27.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.682 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.683 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.684 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.684 * [backup-simplify]: Simplify (- 0) into 0 27.685 * [backup-simplify]: Simplify (+ 0 0) into 0 27.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.685 * [backup-simplify]: Simplify (+ 0) into 0 27.686 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.686 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.687 * [backup-simplify]: Simplify (- 0) into 0 27.688 * [backup-simplify]: Simplify (+ 0 0) into 0 27.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.688 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.689 * [backup-simplify]: Simplify (+ 0) into 0 27.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.689 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.690 * [backup-simplify]: Simplify (+ 0 0) into 0 27.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.691 * [backup-simplify]: Simplify (+ 0) into 0 27.691 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.691 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.692 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.692 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.692 * [backup-simplify]: Simplify (+ 0 0) into 0 27.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.693 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.693 * [backup-simplify]: Simplify (+ 0 0) into 0 27.693 * [backup-simplify]: Simplify (+ 0) into 0 27.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.693 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.694 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.694 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.695 * [backup-simplify]: Simplify (- 0) into 0 27.695 * [backup-simplify]: Simplify (+ 0 0) into 0 27.695 * [backup-simplify]: Simplify (+ 0) into 0 27.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.696 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.696 * [backup-simplify]: Simplify (+ 0 0) into 0 27.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.697 * [backup-simplify]: Simplify (+ 0) into 0 27.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.697 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.698 * [backup-simplify]: Simplify (+ 0 0) into 0 27.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 27.699 * [backup-simplify]: Simplify (+ 0) into 0 27.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.699 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.700 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.700 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.700 * [backup-simplify]: Simplify (- 0) into 0 27.701 * [backup-simplify]: Simplify (+ 0 0) into 0 27.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 27.701 * [backup-simplify]: Simplify (+ 0) into 0 27.701 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.701 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.702 * [backup-simplify]: Simplify (+ 0 0) into 0 27.703 * [backup-simplify]: Simplify (+ 0) into 0 27.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.703 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.704 * [backup-simplify]: Simplify (- 0) into 0 27.705 * [backup-simplify]: Simplify (+ 0 0) into 0 27.705 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.705 * [backup-simplify]: Simplify (+ 0) into 0 27.705 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.705 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.707 * [backup-simplify]: Simplify (- 0) into 0 27.707 * [backup-simplify]: Simplify (+ 0 0) into 0 27.708 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 27.709 * [backup-simplify]: Simplify (+ 0) into 0 27.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.709 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.710 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.711 * [backup-simplify]: Simplify (+ 0 0) into 0 27.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 27.712 * [backup-simplify]: Simplify (+ 0 0) into 0 27.713 * [backup-simplify]: Simplify (- 0) into 0 27.713 * [backup-simplify]: Simplify (+ 0 0) into 0 27.717 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 27.721 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 27.730 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 27.735 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 27.735 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))))) in lambda2 27.735 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 27.735 * [taylor]: Taking taylor expansion of 1/2 in lambda2 27.735 * [backup-simplify]: Simplify 1/2 into 1/2 27.735 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 27.736 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 27.736 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) in lambda2 27.736 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.736 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.736 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.736 * [backup-simplify]: Simplify -0.5 into -0.5 27.736 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.736 * [backup-simplify]: Simplify phi2 into phi2 27.736 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.736 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.736 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.736 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3))) in lambda2 27.736 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.736 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.736 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.736 * [backup-simplify]: Simplify -0.5 into -0.5 27.736 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.736 * [backup-simplify]: Simplify phi1 into phi1 27.736 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.737 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.737 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.737 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)) in lambda2 27.737 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2 27.737 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.737 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.737 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.737 * [backup-simplify]: Simplify -0.5 into -0.5 27.737 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.737 * [backup-simplify]: Simplify phi1 into phi1 27.737 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.737 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.737 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.737 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.738 * [backup-simplify]: Simplify (- 0) into 0 27.738 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.738 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2 27.738 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.738 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.738 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.738 * [backup-simplify]: Simplify -0.5 into -0.5 27.738 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.738 * [backup-simplify]: Simplify phi2 into phi2 27.738 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.739 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.739 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.744 * [backup-simplify]: Simplify (- 0) into 0 27.744 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.744 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 27.745 * [taylor]: Taking taylor expansion of R in lambda2 27.745 * [backup-simplify]: Simplify R into R 27.745 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 27.745 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 27.745 * [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 27.745 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.745 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.745 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.745 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.745 * [backup-simplify]: Simplify -0.5 into -0.5 27.745 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.745 * [backup-simplify]: Simplify phi2 into phi2 27.745 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.745 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.746 * [backup-simplify]: Simplify (- 0) into 0 27.746 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.746 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.746 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.746 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.746 * [backup-simplify]: Simplify -0.5 into -0.5 27.746 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.746 * [backup-simplify]: Simplify phi1 into phi1 27.747 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.747 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.747 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.747 * [backup-simplify]: Simplify (- 0) into 0 27.747 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.747 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.747 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.747 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.748 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.748 * [backup-simplify]: Simplify -0.5 into -0.5 27.748 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.748 * [backup-simplify]: Simplify phi2 into phi2 27.748 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.748 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.748 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.748 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.748 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.749 * [backup-simplify]: Simplify -0.5 into -0.5 27.749 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.749 * [backup-simplify]: Simplify phi1 into phi1 27.749 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.749 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.749 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.749 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 27.749 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.749 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.749 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.749 * [backup-simplify]: Simplify -0.5 into -0.5 27.749 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.749 * [backup-simplify]: Simplify phi2 into phi2 27.749 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.750 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.750 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.750 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.750 * [backup-simplify]: Simplify -0.5 into -0.5 27.750 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.750 * [backup-simplify]: Simplify phi2 into phi2 27.750 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.750 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.750 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.750 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.750 * [backup-simplify]: Simplify -0.5 into -0.5 27.750 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.750 * [backup-simplify]: Simplify phi1 into phi1 27.750 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.751 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.751 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.751 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.751 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.751 * [backup-simplify]: Simplify -0.5 into -0.5 27.751 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.751 * [backup-simplify]: Simplify phi1 into phi1 27.751 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.751 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.751 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.751 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.751 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.751 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.751 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.751 * [backup-simplify]: Simplify -0.5 into -0.5 27.751 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.751 * [backup-simplify]: Simplify phi2 into phi2 27.751 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.751 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.751 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.751 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.751 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.751 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.752 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.752 * [backup-simplify]: Simplify -0.5 into -0.5 27.752 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.752 * [backup-simplify]: Simplify phi2 into phi2 27.752 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.752 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.752 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.752 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.752 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.752 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.752 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.752 * [backup-simplify]: Simplify -0.5 into -0.5 27.752 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.752 * [backup-simplify]: Simplify phi1 into phi1 27.752 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.752 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.752 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.752 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.752 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.752 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.752 * [backup-simplify]: Simplify -0.5 into -0.5 27.752 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.752 * [backup-simplify]: Simplify phi1 into phi1 27.753 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.753 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.753 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.753 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 27.753 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.753 * [backup-simplify]: Simplify 0 into 0 27.753 * [backup-simplify]: Simplify 1 into 1 27.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.753 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.753 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 27.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 27.755 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)) into (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)) 27.755 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3))) 27.756 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) 27.756 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.756 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.756 * [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)) 27.756 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.757 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.757 * [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)) 27.758 * [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))) 27.758 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.758 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.759 * [backup-simplify]: Simplify (- 0) into 0 27.759 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.759 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.759 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.759 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.760 * [backup-simplify]: Simplify (- 0) into 0 27.760 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.760 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.760 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.760 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.760 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.761 * [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)))) 27.761 * [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))))) 27.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.761 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.762 * [backup-simplify]: Simplify (- 0) into 0 27.762 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.762 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.762 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.762 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.763 * [backup-simplify]: Simplify (- 0) into 0 27.763 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.763 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.763 * [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)))) 27.763 * [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))))) 27.764 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.764 * [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))))))) 27.765 * [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))))))) 27.766 * [backup-simplify]: Simplify (* 1 1) into 1 27.766 * [backup-simplify]: Simplify (* 1 1) into 1 27.767 * [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))))))) 1) 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))))))) 27.768 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 27.769 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 27.770 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 27.770 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 27.770 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 27.770 * [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 27.770 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.770 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.770 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.770 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.770 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.770 * [backup-simplify]: Simplify -0.5 into -0.5 27.770 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.770 * [backup-simplify]: Simplify phi2 into phi2 27.770 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.770 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.770 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.770 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.770 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.770 * [backup-simplify]: Simplify (- 0) into 0 27.770 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.770 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.770 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.771 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.771 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.771 * [backup-simplify]: Simplify -0.5 into -0.5 27.771 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.771 * [backup-simplify]: Simplify phi1 into phi1 27.771 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.771 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.771 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.771 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.771 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.771 * [backup-simplify]: Simplify (- 0) into 0 27.771 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.771 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.771 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.771 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.771 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.771 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.771 * [backup-simplify]: Simplify -0.5 into -0.5 27.771 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.771 * [backup-simplify]: Simplify phi2 into phi2 27.771 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.771 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.771 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.772 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.772 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.772 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.772 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.772 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.772 * [backup-simplify]: Simplify -0.5 into -0.5 27.772 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.772 * [backup-simplify]: Simplify phi1 into phi1 27.772 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.772 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.772 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.772 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.772 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 27.772 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.772 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.772 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.772 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.772 * [backup-simplify]: Simplify -0.5 into -0.5 27.772 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.772 * [backup-simplify]: Simplify phi2 into phi2 27.772 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.772 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.772 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.772 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.772 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.773 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.773 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.773 * [backup-simplify]: Simplify -0.5 into -0.5 27.773 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.773 * [backup-simplify]: Simplify phi2 into phi2 27.773 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.773 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.773 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.773 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.773 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.773 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.773 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.773 * [backup-simplify]: Simplify -0.5 into -0.5 27.773 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.773 * [backup-simplify]: Simplify phi1 into phi1 27.773 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.773 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.773 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.773 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.773 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.773 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.773 * [backup-simplify]: Simplify -0.5 into -0.5 27.773 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.773 * [backup-simplify]: Simplify phi1 into phi1 27.773 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.773 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.773 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.773 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.773 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.773 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.773 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.773 * [backup-simplify]: Simplify -0.5 into -0.5 27.773 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.773 * [backup-simplify]: Simplify phi2 into phi2 27.773 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.773 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.774 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.774 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.774 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.774 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.774 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.774 * [backup-simplify]: Simplify -0.5 into -0.5 27.774 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.774 * [backup-simplify]: Simplify phi2 into phi2 27.774 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.774 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.774 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.774 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.774 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.774 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.774 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.774 * [backup-simplify]: Simplify -0.5 into -0.5 27.774 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.774 * [backup-simplify]: Simplify phi1 into phi1 27.774 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.774 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.774 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.774 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.774 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.774 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.774 * [backup-simplify]: Simplify -0.5 into -0.5 27.774 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.774 * [backup-simplify]: Simplify phi1 into phi1 27.774 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.774 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.774 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.774 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.774 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.775 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 27.775 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.775 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.775 * [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)) 27.776 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 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))) 27.776 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.776 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.776 * [backup-simplify]: Simplify (- 0) into 0 27.776 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.776 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.776 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.776 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.776 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.776 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.777 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.777 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.777 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.777 * [backup-simplify]: Simplify (- 0) into 0 27.777 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.777 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.777 * [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)))) 27.777 * [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))))) 27.777 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.778 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.778 * [backup-simplify]: Simplify (- 0) into 0 27.778 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.778 * [backup-simplify]: Simplify (- 0) into 0 27.779 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.779 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.779 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.779 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.779 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.779 * [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)))) 27.779 * [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))))) 27.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.780 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.781 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.782 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 27.783 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.784 * [backup-simplify]: Simplify (+ 0) into 0 27.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.784 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.785 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.785 * [backup-simplify]: Simplify (- 0) into 0 27.785 * [backup-simplify]: Simplify (+ 0 0) into 0 27.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.786 * [backup-simplify]: Simplify (+ 0) into 0 27.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.786 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.787 * [backup-simplify]: Simplify (- 0) into 0 27.788 * [backup-simplify]: Simplify (+ 0 0) into 0 27.788 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.788 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.788 * [backup-simplify]: Simplify (+ 0) into 0 27.789 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.789 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.791 * [backup-simplify]: Simplify (+ 0 0) into 0 27.791 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.791 * [backup-simplify]: Simplify (+ 0) into 0 27.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.792 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.794 * [backup-simplify]: Simplify (+ 0 0) into 0 27.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.794 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.795 * [backup-simplify]: Simplify (+ 0 0) into 0 27.795 * [backup-simplify]: Simplify (+ 0) into 0 27.796 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.796 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.797 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.797 * [backup-simplify]: Simplify (- 0) into 0 27.798 * [backup-simplify]: Simplify (+ 0 0) into 0 27.798 * [backup-simplify]: Simplify (+ 0) into 0 27.799 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.799 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.800 * [backup-simplify]: Simplify (+ 0 0) into 0 27.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.801 * [backup-simplify]: Simplify (+ 0) into 0 27.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.802 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.803 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.803 * [backup-simplify]: Simplify (+ 0 0) into 0 27.804 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 27.804 * [backup-simplify]: Simplify (+ 0) into 0 27.804 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.805 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.805 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.806 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.806 * [backup-simplify]: Simplify (- 0) into 0 27.807 * [backup-simplify]: Simplify (+ 0 0) into 0 27.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 27.807 * [backup-simplify]: Simplify (+ 0) into 0 27.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.808 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.809 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.810 * [backup-simplify]: Simplify (+ 0 0) into 0 27.810 * [backup-simplify]: Simplify (+ 0) into 0 27.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.811 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.812 * [backup-simplify]: Simplify (- 0) into 0 27.813 * [backup-simplify]: Simplify (+ 0 0) into 0 27.813 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.813 * [backup-simplify]: Simplify (+ 0) into 0 27.814 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.814 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.815 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.815 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.815 * [backup-simplify]: Simplify (- 0) into 0 27.816 * [backup-simplify]: Simplify (+ 0 0) into 0 27.816 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 27.816 * [backup-simplify]: Simplify (+ 0) into 0 27.817 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.817 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.818 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.819 * [backup-simplify]: Simplify (+ 0 0) into 0 27.819 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 27.819 * [backup-simplify]: Simplify (+ 0 0) into 0 27.820 * [backup-simplify]: Simplify (- 0) into 0 27.820 * [backup-simplify]: Simplify (+ 0 0) into 0 27.824 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 27.826 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 27.826 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))) in lambda2 27.827 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 27.827 * [taylor]: Taking taylor expansion of 1/2 in lambda2 27.827 * [backup-simplify]: Simplify 1/2 into 1/2 27.827 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 27.827 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 27.827 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) in lambda2 27.827 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 6) in lambda2 27.827 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.827 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.827 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.827 * [backup-simplify]: Simplify -0.5 into -0.5 27.827 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.827 * [backup-simplify]: Simplify phi2 into phi2 27.827 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.827 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.827 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.828 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.828 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.828 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.828 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 6) in lambda2 27.828 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.828 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.828 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.828 * [backup-simplify]: Simplify -0.5 into -0.5 27.828 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.828 * [backup-simplify]: Simplify phi1 into phi1 27.828 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.828 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.828 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.828 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.828 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.829 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.829 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 27.829 * [taylor]: Taking taylor expansion of R in lambda2 27.829 * [backup-simplify]: Simplify R into R 27.829 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 27.829 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 27.829 * [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 27.829 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.829 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.829 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.829 * [backup-simplify]: Simplify -0.5 into -0.5 27.829 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.829 * [backup-simplify]: Simplify phi2 into phi2 27.829 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.829 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.830 * [backup-simplify]: Simplify (- 0) into 0 27.830 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.830 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.830 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.830 * [backup-simplify]: Simplify -0.5 into -0.5 27.830 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.830 * [backup-simplify]: Simplify phi1 into phi1 27.830 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.831 * [backup-simplify]: Simplify (- 0) into 0 27.831 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.831 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.831 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.831 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.831 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.831 * [backup-simplify]: Simplify -0.5 into -0.5 27.832 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.832 * [backup-simplify]: Simplify phi2 into phi2 27.832 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.832 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.832 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.832 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.832 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.832 * [backup-simplify]: Simplify -0.5 into -0.5 27.832 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.832 * [backup-simplify]: Simplify phi1 into phi1 27.832 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.833 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.833 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 27.833 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.833 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.833 * [backup-simplify]: Simplify -0.5 into -0.5 27.833 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.833 * [backup-simplify]: Simplify phi2 into phi2 27.833 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.833 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.834 * [backup-simplify]: Simplify -0.5 into -0.5 27.834 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.834 * [backup-simplify]: Simplify phi2 into phi2 27.834 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.834 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.834 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.834 * [backup-simplify]: Simplify -0.5 into -0.5 27.834 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.834 * [backup-simplify]: Simplify phi1 into phi1 27.834 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.834 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.834 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.834 * [backup-simplify]: Simplify -0.5 into -0.5 27.834 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.834 * [backup-simplify]: Simplify phi1 into phi1 27.834 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.835 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.835 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.835 * [backup-simplify]: Simplify -0.5 into -0.5 27.835 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.835 * [backup-simplify]: Simplify phi2 into phi2 27.835 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.835 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.835 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.835 * [backup-simplify]: Simplify -0.5 into -0.5 27.835 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.835 * [backup-simplify]: Simplify phi2 into phi2 27.835 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.836 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.836 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.836 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.836 * [backup-simplify]: Simplify -0.5 into -0.5 27.836 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.836 * [backup-simplify]: Simplify phi1 into phi1 27.836 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.836 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.836 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.836 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.836 * [backup-simplify]: Simplify -0.5 into -0.5 27.836 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.836 * [backup-simplify]: Simplify phi1 into phi1 27.836 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.836 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.836 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.836 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 27.836 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.836 * [backup-simplify]: Simplify 0 into 0 27.836 * [backup-simplify]: Simplify 1 into 1 27.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3) 27.837 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)) into (pow (sin (/ -0.5 phi2)) 6) 27.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3) 27.838 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)) into (pow (sin (/ -0.5 phi1)) 6) 27.838 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) into (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) 27.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.839 * [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)) 27.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.840 * [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)) 27.841 * [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))) 27.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.841 * [backup-simplify]: Simplify (- 0) into 0 27.841 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.842 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.842 * [backup-simplify]: Simplify (- 0) into 0 27.842 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.843 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.843 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.843 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.843 * [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)))) 27.844 * [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))))) 27.844 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.844 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.844 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.844 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.844 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.845 * [backup-simplify]: Simplify (- 0) into 0 27.845 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.845 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.845 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.845 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.845 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.846 * [backup-simplify]: Simplify (- 0) into 0 27.846 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.846 * [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)))) 27.846 * [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))))) 27.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.848 * [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))))))) 27.850 * [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))))))) 27.851 * [backup-simplify]: Simplify (* 1 1) into 1 27.851 * [backup-simplify]: Simplify (* 1 1) into 1 27.853 * [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))))))) 1) 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))))))) 27.855 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 27.857 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* (- (+ (* (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))))))) R)) into (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 27.857 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 27.857 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 27.857 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 27.857 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 27.857 * [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 27.857 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.857 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.857 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.857 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.857 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.857 * [backup-simplify]: Simplify -0.5 into -0.5 27.857 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.857 * [backup-simplify]: Simplify phi2 into phi2 27.857 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.857 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.857 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.858 * [backup-simplify]: Simplify (- 0) into 0 27.858 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.858 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.858 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.858 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.858 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.858 * [backup-simplify]: Simplify -0.5 into -0.5 27.858 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.858 * [backup-simplify]: Simplify phi1 into phi1 27.858 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.858 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.858 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.858 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.858 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.858 * [backup-simplify]: Simplify (- 0) into 0 27.859 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.859 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.859 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.859 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.859 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.859 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.859 * [backup-simplify]: Simplify -0.5 into -0.5 27.859 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.859 * [backup-simplify]: Simplify phi2 into phi2 27.859 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.859 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.859 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.859 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.859 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.859 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.859 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.859 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.859 * [backup-simplify]: Simplify -0.5 into -0.5 27.859 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.859 * [backup-simplify]: Simplify phi1 into phi1 27.859 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.859 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.859 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.860 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.860 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 27.860 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.860 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.860 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.860 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.860 * [backup-simplify]: Simplify -0.5 into -0.5 27.860 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.860 * [backup-simplify]: Simplify phi2 into phi2 27.860 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.860 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.860 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.860 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.860 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.860 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.860 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.860 * [backup-simplify]: Simplify -0.5 into -0.5 27.860 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.860 * [backup-simplify]: Simplify phi2 into phi2 27.860 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.860 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.860 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.860 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.860 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.860 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.860 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.860 * [backup-simplify]: Simplify -0.5 into -0.5 27.860 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.860 * [backup-simplify]: Simplify phi1 into phi1 27.860 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.860 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.860 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.860 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.860 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.860 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.860 * [backup-simplify]: Simplify -0.5 into -0.5 27.860 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.860 * [backup-simplify]: Simplify phi1 into phi1 27.861 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.861 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.861 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.861 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.861 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.861 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.861 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.861 * [backup-simplify]: Simplify -0.5 into -0.5 27.861 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.861 * [backup-simplify]: Simplify phi2 into phi2 27.861 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.861 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.861 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.861 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.861 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.861 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.861 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.861 * [backup-simplify]: Simplify -0.5 into -0.5 27.861 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.861 * [backup-simplify]: Simplify phi2 into phi2 27.861 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.861 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.861 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.861 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.861 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.861 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.861 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.861 * [backup-simplify]: Simplify -0.5 into -0.5 27.861 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.861 * [backup-simplify]: Simplify phi1 into phi1 27.861 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.861 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.861 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.861 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.861 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.862 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.862 * [backup-simplify]: Simplify -0.5 into -0.5 27.862 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.862 * [backup-simplify]: Simplify phi1 into phi1 27.862 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.862 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.862 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.862 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.862 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.862 * [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)) 27.862 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.862 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.863 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 27.863 * [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))) 27.863 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.863 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.863 * [backup-simplify]: Simplify (- 0) into 0 27.864 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.864 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.864 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.864 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.864 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.864 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.864 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.864 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.864 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.864 * [backup-simplify]: Simplify (- 0) into 0 27.864 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.865 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.865 * [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)))) 27.865 * [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))))) 27.865 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.865 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.865 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.865 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.865 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.866 * [backup-simplify]: Simplify (- 0) into 0 27.866 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.866 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.866 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.866 * [backup-simplify]: Simplify (- 0) into 0 27.867 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.867 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.867 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.867 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.867 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.867 * [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)))) 27.868 * [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))))) 27.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.869 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.871 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 27.875 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 27.879 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 27.883 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.888 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 27.888 * [backup-simplify]: Simplify (+ 0) into 0 27.889 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.889 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.890 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.890 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.891 * [backup-simplify]: Simplify (- 0) into 0 27.891 * [backup-simplify]: Simplify (+ 0 0) into 0 27.891 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.892 * [backup-simplify]: Simplify (+ 0) into 0 27.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.892 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.893 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.894 * [backup-simplify]: Simplify (- 0) into 0 27.894 * [backup-simplify]: Simplify (+ 0 0) into 0 27.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 27.895 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 27.895 * [backup-simplify]: Simplify (+ 0) into 0 27.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.896 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.896 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.897 * [backup-simplify]: Simplify (+ 0 0) into 0 27.897 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.898 * [backup-simplify]: Simplify (+ 0) into 0 27.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.898 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.899 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.905 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.906 * [backup-simplify]: Simplify (+ 0 0) into 0 27.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 27.907 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 27.907 * [backup-simplify]: Simplify (+ 0 0) into 0 27.908 * [backup-simplify]: Simplify (+ 0) into 0 27.908 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.908 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.910 * [backup-simplify]: Simplify (- 0) into 0 27.910 * [backup-simplify]: Simplify (+ 0 0) into 0 27.911 * [backup-simplify]: Simplify (+ 0) into 0 27.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.911 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.913 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.913 * [backup-simplify]: Simplify (+ 0 0) into 0 27.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 27.913 * [backup-simplify]: Simplify (+ 0) into 0 27.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.914 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.915 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.915 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.917 * [backup-simplify]: Simplify (+ 0 0) into 0 27.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 27.918 * [backup-simplify]: Simplify (+ 0) into 0 27.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.918 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.919 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.920 * [backup-simplify]: Simplify (- 0) into 0 27.921 * [backup-simplify]: Simplify (+ 0 0) into 0 27.921 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 27.921 * [backup-simplify]: Simplify (+ 0) into 0 27.922 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.922 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.924 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.924 * [backup-simplify]: Simplify (+ 0 0) into 0 27.924 * [backup-simplify]: Simplify (+ 0) into 0 27.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 27.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 27.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 27.927 * [backup-simplify]: Simplify (- 0) into 0 27.927 * [backup-simplify]: Simplify (+ 0 0) into 0 27.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 27.927 * [backup-simplify]: Simplify (+ 0) into 0 27.928 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.928 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.929 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.930 * [backup-simplify]: Simplify (- 0) into 0 27.930 * [backup-simplify]: Simplify (+ 0 0) into 0 27.930 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 27.931 * [backup-simplify]: Simplify (+ 0) into 0 27.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 27.931 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 27.932 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 27.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 27.933 * [backup-simplify]: Simplify (+ 0 0) into 0 27.933 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 27.934 * [backup-simplify]: Simplify (+ 0 0) into 0 27.934 * [backup-simplify]: Simplify (- 0) into 0 27.935 * [backup-simplify]: Simplify (+ 0 0) into 0 27.939 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 27.943 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 27.952 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 27.957 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 27.957 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in lambda2 27.957 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 27.957 * [taylor]: Taking taylor expansion of 1/2 in lambda2 27.957 * [backup-simplify]: Simplify 1/2 into 1/2 27.957 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 27.957 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 27.957 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) in lambda2 27.957 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.957 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.957 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.957 * [backup-simplify]: Simplify -0.5 into -0.5 27.957 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.957 * [backup-simplify]: Simplify phi2 into phi2 27.958 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.958 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.958 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3))) in lambda2 27.958 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2 27.958 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.958 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.958 * [backup-simplify]: Simplify -0.5 into -0.5 27.958 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.958 * [backup-simplify]: Simplify phi2 into phi2 27.958 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.958 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.958 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.959 * [backup-simplify]: Simplify (- 0) into 0 27.959 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.959 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)) in lambda2 27.959 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.959 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.959 * [backup-simplify]: Simplify -0.5 into -0.5 27.959 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.959 * [backup-simplify]: Simplify phi1 into phi1 27.959 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.960 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2 27.960 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.960 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.960 * [backup-simplify]: Simplify -0.5 into -0.5 27.960 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.960 * [backup-simplify]: Simplify phi1 into phi1 27.960 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.960 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.960 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.961 * [backup-simplify]: Simplify (- 0) into 0 27.961 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.961 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 27.961 * [taylor]: Taking taylor expansion of R in lambda2 27.961 * [backup-simplify]: Simplify R into R 27.961 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 27.961 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 27.961 * [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 27.961 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.961 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.961 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.961 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.961 * [backup-simplify]: Simplify -0.5 into -0.5 27.961 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.961 * [backup-simplify]: Simplify phi2 into phi2 27.961 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.961 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.962 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.962 * [backup-simplify]: Simplify (- 0) into 0 27.962 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.962 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.962 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.962 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.962 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.962 * [backup-simplify]: Simplify -0.5 into -0.5 27.962 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.962 * [backup-simplify]: Simplify phi1 into phi1 27.962 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.963 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.963 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.963 * [backup-simplify]: Simplify (- 0) into 0 27.963 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.963 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.963 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.963 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.963 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.963 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.964 * [backup-simplify]: Simplify -0.5 into -0.5 27.964 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.964 * [backup-simplify]: Simplify phi2 into phi2 27.964 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.964 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.964 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.964 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.964 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.964 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.964 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.964 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.964 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.964 * [backup-simplify]: Simplify -0.5 into -0.5 27.964 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.964 * [backup-simplify]: Simplify phi1 into phi1 27.964 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.965 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.965 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.965 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.965 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 27.965 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.965 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.965 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.965 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.965 * [backup-simplify]: Simplify -0.5 into -0.5 27.965 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.965 * [backup-simplify]: Simplify phi2 into phi2 27.965 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.965 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.965 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.965 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.966 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.966 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.966 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.966 * [backup-simplify]: Simplify -0.5 into -0.5 27.966 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.966 * [backup-simplify]: Simplify phi2 into phi2 27.966 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.966 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.966 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.966 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.966 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.966 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.966 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.966 * [backup-simplify]: Simplify -0.5 into -0.5 27.966 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.966 * [backup-simplify]: Simplify phi1 into phi1 27.966 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.966 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.966 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.966 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.966 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.966 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.966 * [backup-simplify]: Simplify -0.5 into -0.5 27.967 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.967 * [backup-simplify]: Simplify phi1 into phi1 27.967 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.967 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.967 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.967 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.967 * [backup-simplify]: Simplify -0.5 into -0.5 27.967 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.967 * [backup-simplify]: Simplify phi2 into phi2 27.967 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.967 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.967 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.967 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.967 * [backup-simplify]: Simplify -0.5 into -0.5 27.967 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.967 * [backup-simplify]: Simplify phi2 into phi2 27.968 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.968 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.968 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.968 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.968 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.968 * [backup-simplify]: Simplify -0.5 into -0.5 27.968 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.968 * [backup-simplify]: Simplify phi1 into phi1 27.968 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.968 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.968 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.968 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.968 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.968 * [backup-simplify]: Simplify -0.5 into -0.5 27.968 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.968 * [backup-simplify]: Simplify phi1 into phi1 27.968 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.969 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 27.969 * [taylor]: Taking taylor expansion of lambda2 in lambda2 27.969 * [backup-simplify]: Simplify 0 into 0 27.969 * [backup-simplify]: Simplify 1 into 1 27.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.969 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 27.970 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.970 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 27.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)) into (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)) 27.971 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3))) into (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1)))) 27.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))) into (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))) 27.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.972 * [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)) 27.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 27.973 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 27.973 * [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)) 27.974 * [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))) 27.974 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.974 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.974 * [backup-simplify]: Simplify (- 0) into 0 27.975 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.975 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.976 * [backup-simplify]: Simplify (- 0) into 0 27.976 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.976 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 27.976 * [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)))) 27.977 * [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))))) 27.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.977 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.978 * [backup-simplify]: Simplify (- 0) into 0 27.978 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.978 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.979 * [backup-simplify]: Simplify (- 0) into 0 27.979 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.979 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 27.979 * [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)))) 27.979 * [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))))) 27.980 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 27.981 * [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))))))) 27.983 * [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))))))) 27.984 * [backup-simplify]: Simplify (* 1 1) into 1 27.984 * [backup-simplify]: Simplify (* 1 1) into 1 27.986 * [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))))))) 1) 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))))))) 27.988 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 27.991 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 27.991 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 27.991 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 27.991 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 27.991 * [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 27.991 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 27.991 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 27.991 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.991 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.991 * [backup-simplify]: Simplify -0.5 into -0.5 27.991 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.991 * [backup-simplify]: Simplify phi2 into phi2 27.991 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.991 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.991 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.991 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 27.992 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 27.992 * [backup-simplify]: Simplify (- 0) into 0 27.992 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 27.992 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 27.992 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.992 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.992 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.992 * [backup-simplify]: Simplify -0.5 into -0.5 27.992 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.992 * [backup-simplify]: Simplify phi1 into phi1 27.993 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.993 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.993 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.993 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 27.993 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 27.993 * [backup-simplify]: Simplify (- 0) into 0 27.993 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 27.993 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 27.993 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 27.993 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.994 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.994 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.994 * [backup-simplify]: Simplify -0.5 into -0.5 27.994 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.994 * [backup-simplify]: Simplify phi2 into phi2 27.994 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.994 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.994 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.994 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 27.994 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 27.994 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 27.994 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 27.994 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.994 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.994 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.994 * [backup-simplify]: Simplify -0.5 into -0.5 27.994 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.994 * [backup-simplify]: Simplify phi1 into phi1 27.994 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.995 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.995 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.995 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 27.995 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 27.995 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 27.995 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 27.995 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 27.995 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.995 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.995 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.995 * [backup-simplify]: Simplify -0.5 into -0.5 27.995 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.995 * [backup-simplify]: Simplify phi2 into phi2 27.995 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.995 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.995 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.996 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 27.996 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.996 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.996 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.996 * [backup-simplify]: Simplify -0.5 into -0.5 27.996 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.996 * [backup-simplify]: Simplify phi2 into phi2 27.996 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.996 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.996 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.996 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 27.996 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.996 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.996 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.996 * [backup-simplify]: Simplify -0.5 into -0.5 27.996 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.996 * [backup-simplify]: Simplify phi1 into phi1 27.996 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.996 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.996 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.996 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.996 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.996 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.997 * [backup-simplify]: Simplify -0.5 into -0.5 27.997 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.997 * [backup-simplify]: Simplify phi1 into phi1 27.997 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.997 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.997 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.997 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 27.997 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 27.997 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.997 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.997 * [backup-simplify]: Simplify -0.5 into -0.5 27.997 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.997 * [backup-simplify]: Simplify phi2 into phi2 27.997 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.997 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.997 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.997 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 27.997 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 27.997 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 27.997 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.997 * [backup-simplify]: Simplify -0.5 into -0.5 27.997 * [taylor]: Taking taylor expansion of phi2 in lambda2 27.997 * [backup-simplify]: Simplify phi2 into phi2 27.998 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 27.998 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 27.998 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 27.998 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 27.998 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 27.998 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.998 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.998 * [backup-simplify]: Simplify -0.5 into -0.5 27.998 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.998 * [backup-simplify]: Simplify phi1 into phi1 27.998 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.998 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.998 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.998 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 27.998 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 27.998 * [taylor]: Taking taylor expansion of -0.5 in lambda2 27.998 * [backup-simplify]: Simplify -0.5 into -0.5 27.998 * [taylor]: Taking taylor expansion of phi1 in lambda2 27.998 * [backup-simplify]: Simplify phi1 into phi1 27.998 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 27.998 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 27.999 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 27.999 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 27.999 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 27.999 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 27.999 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.000 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.000 * [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)) 28.001 * [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))) 28.001 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.001 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.002 * [backup-simplify]: Simplify (- 0) into 0 28.002 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.002 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.002 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.002 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.002 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.002 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.003 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.003 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.003 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.003 * [backup-simplify]: Simplify (- 0) into 0 28.003 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.003 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.004 * [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)))) 28.004 * [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))))) 28.004 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.004 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.004 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.005 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.005 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.005 * [backup-simplify]: Simplify (- 0) into 0 28.005 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.005 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.005 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.006 * [backup-simplify]: Simplify (- 0) into 0 28.006 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.006 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.006 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.006 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.006 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.007 * [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)))) 28.007 * [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))))) 28.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.009 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.011 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.013 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 28.015 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.015 * [backup-simplify]: Simplify (+ 0) into 0 28.016 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.016 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.017 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.017 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.017 * [backup-simplify]: Simplify (- 0) into 0 28.018 * [backup-simplify]: Simplify (+ 0 0) into 0 28.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.018 * [backup-simplify]: Simplify (+ 0) into 0 28.019 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.019 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.020 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.021 * [backup-simplify]: Simplify (- 0) into 0 28.021 * [backup-simplify]: Simplify (+ 0 0) into 0 28.021 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.022 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.022 * [backup-simplify]: Simplify (+ 0) into 0 28.022 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.023 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.024 * [backup-simplify]: Simplify (+ 0 0) into 0 28.024 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.025 * [backup-simplify]: Simplify (+ 0) into 0 28.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.025 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.027 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.027 * [backup-simplify]: Simplify (+ 0 0) into 0 28.027 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.028 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.028 * [backup-simplify]: Simplify (+ 0 0) into 0 28.028 * [backup-simplify]: Simplify (+ 0) into 0 28.029 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.029 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.030 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.031 * [backup-simplify]: Simplify (- 0) into 0 28.031 * [backup-simplify]: Simplify (+ 0 0) into 0 28.031 * [backup-simplify]: Simplify (+ 0) into 0 28.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.032 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.033 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.033 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.033 * [backup-simplify]: Simplify (+ 0 0) into 0 28.034 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.034 * [backup-simplify]: Simplify (+ 0) into 0 28.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.035 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.035 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.036 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.036 * [backup-simplify]: Simplify (+ 0 0) into 0 28.037 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.037 * [backup-simplify]: Simplify (+ 0) into 0 28.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.038 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.038 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.039 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.039 * [backup-simplify]: Simplify (- 0) into 0 28.040 * [backup-simplify]: Simplify (+ 0 0) into 0 28.040 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.040 * [backup-simplify]: Simplify (+ 0) into 0 28.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.041 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.042 * [backup-simplify]: Simplify (+ 0 0) into 0 28.043 * [backup-simplify]: Simplify (+ 0) into 0 28.043 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.044 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.045 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.045 * [backup-simplify]: Simplify (- 0) into 0 28.046 * [backup-simplify]: Simplify (+ 0 0) into 0 28.046 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.046 * [backup-simplify]: Simplify (+ 0) into 0 28.047 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.047 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.048 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.048 * [backup-simplify]: Simplify (- 0) into 0 28.049 * [backup-simplify]: Simplify (+ 0 0) into 0 28.049 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.049 * [backup-simplify]: Simplify (+ 0) into 0 28.050 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.050 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.051 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.052 * [backup-simplify]: Simplify (+ 0 0) into 0 28.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.053 * [backup-simplify]: Simplify (+ 0 0) into 0 28.053 * [backup-simplify]: Simplify (- 0) into 0 28.053 * [backup-simplify]: Simplify (+ 0 0) into 0 28.058 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 28.060 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 28.060 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 28.060 * [taylor]: Taking taylor expansion of 1/2 in lambda2 28.060 * [backup-simplify]: Simplify 1/2 into 1/2 28.060 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 28.060 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 28.060 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 28.060 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.060 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.060 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.060 * [backup-simplify]: Simplify -0.5 into -0.5 28.060 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.060 * [backup-simplify]: Simplify phi2 into phi2 28.060 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.061 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.061 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.061 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 28.061 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.061 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.061 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.061 * [backup-simplify]: Simplify -0.5 into -0.5 28.061 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.061 * [backup-simplify]: Simplify phi1 into phi1 28.061 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.061 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.061 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.061 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 28.061 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.061 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.061 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.061 * [backup-simplify]: Simplify -0.5 into -0.5 28.061 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.061 * [backup-simplify]: Simplify phi2 into phi2 28.061 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.061 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.062 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.062 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.062 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.062 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.062 * [backup-simplify]: Simplify -0.5 into -0.5 28.062 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.062 * [backup-simplify]: Simplify phi1 into phi1 28.062 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.062 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.062 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.062 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 28.062 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 28.062 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.062 * [backup-simplify]: Simplify phi1 into phi1 28.062 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 28.062 * [taylor]: Taking taylor expansion of R in lambda2 28.062 * [backup-simplify]: Simplify R into R 28.062 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 28.062 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 28.062 * [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 28.062 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.062 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.062 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.063 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.063 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.063 * [backup-simplify]: Simplify -0.5 into -0.5 28.063 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.063 * [backup-simplify]: Simplify phi2 into phi2 28.063 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.063 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.063 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.063 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.063 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.064 * [backup-simplify]: Simplify (- 0) into 0 28.064 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.064 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.064 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.064 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.064 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.064 * [backup-simplify]: Simplify -0.5 into -0.5 28.064 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.064 * [backup-simplify]: Simplify phi1 into phi1 28.064 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.064 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.064 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.064 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.065 * [backup-simplify]: Simplify (- 0) into 0 28.065 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.065 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.065 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.065 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.065 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.065 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.065 * [backup-simplify]: Simplify -0.5 into -0.5 28.065 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.065 * [backup-simplify]: Simplify phi2 into phi2 28.065 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.065 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.065 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.066 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.066 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.066 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.066 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.066 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.066 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.066 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.066 * [backup-simplify]: Simplify -0.5 into -0.5 28.066 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.066 * [backup-simplify]: Simplify phi1 into phi1 28.066 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.066 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.066 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.066 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.066 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.067 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.067 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 28.067 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.067 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.067 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.067 * [backup-simplify]: Simplify -0.5 into -0.5 28.067 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.067 * [backup-simplify]: Simplify phi2 into phi2 28.067 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.067 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.067 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.067 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.067 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.067 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.067 * [backup-simplify]: Simplify -0.5 into -0.5 28.067 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.067 * [backup-simplify]: Simplify phi2 into phi2 28.067 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.067 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.068 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.068 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.068 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.068 * [backup-simplify]: Simplify -0.5 into -0.5 28.068 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.068 * [backup-simplify]: Simplify phi1 into phi1 28.068 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.068 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.068 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.068 * [backup-simplify]: Simplify -0.5 into -0.5 28.068 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.068 * [backup-simplify]: Simplify phi1 into phi1 28.068 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.068 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.069 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.069 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.069 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.069 * [backup-simplify]: Simplify -0.5 into -0.5 28.069 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.069 * [backup-simplify]: Simplify phi2 into phi2 28.069 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.069 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.069 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.069 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.069 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.069 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.069 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.069 * [backup-simplify]: Simplify -0.5 into -0.5 28.069 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.069 * [backup-simplify]: Simplify phi2 into phi2 28.069 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.069 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.069 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.069 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.069 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.069 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.069 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.070 * [backup-simplify]: Simplify -0.5 into -0.5 28.070 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.070 * [backup-simplify]: Simplify phi1 into phi1 28.070 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.070 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.070 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.070 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.070 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.070 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.070 * [backup-simplify]: Simplify -0.5 into -0.5 28.070 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.070 * [backup-simplify]: Simplify phi1 into phi1 28.070 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.070 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.070 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.070 * [taylor]: Taking taylor expansion of lambda2 in lambda2 28.070 * [backup-simplify]: Simplify 0 into 0 28.070 * [backup-simplify]: Simplify 1 into 1 28.070 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.071 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.071 * [backup-simplify]: Simplify (- 0) into 0 28.071 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.071 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.071 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.072 * [backup-simplify]: Simplify (- 0) into 0 28.072 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.072 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.072 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.072 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.072 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.072 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.073 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.073 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 28.073 * [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)))) 28.073 * [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))))) 28.073 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 28.074 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.074 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.074 * [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)) 28.074 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.074 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.075 * [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)) 28.075 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 28.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.076 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.081 * [backup-simplify]: Simplify (- 0) into 0 28.082 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.082 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.082 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.082 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.082 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.082 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.083 * [backup-simplify]: Simplify (- 0) into 0 28.083 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.083 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.083 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.083 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.083 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.084 * [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)))) 28.084 * [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))))) 28.084 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.084 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.084 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.085 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.085 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.085 * [backup-simplify]: Simplify (- 0) into 0 28.085 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.085 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.085 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.085 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.086 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.086 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.086 * [backup-simplify]: Simplify (- 0) into 0 28.086 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.086 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.087 * [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)))) 28.087 * [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))))) 28.088 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.088 * [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))))))) 28.090 * [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))))))) 28.092 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 28.093 * [backup-simplify]: Simplify (* R 0) into 0 28.093 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0 28.093 * [backup-simplify]: Simplify (+ 0) into 0 28.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.094 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.095 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.096 * [backup-simplify]: Simplify (- 0) into 0 28.096 * [backup-simplify]: Simplify (+ 0 0) into 0 28.096 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.097 * [backup-simplify]: Simplify (+ 0) into 0 28.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.097 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.099 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.099 * [backup-simplify]: Simplify (- 0) into 0 28.100 * [backup-simplify]: Simplify (+ 0 0) into 0 28.100 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.101 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.101 * [backup-simplify]: Simplify (+ 0) into 0 28.102 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.102 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.103 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.103 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.104 * [backup-simplify]: Simplify (+ 0 0) into 0 28.104 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.104 * [backup-simplify]: Simplify (+ 0) into 0 28.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.105 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.106 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.107 * [backup-simplify]: Simplify (+ 0 0) into 0 28.107 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.107 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.108 * [backup-simplify]: Simplify (+ 0 0) into 0 28.108 * [backup-simplify]: Simplify (+ 0) into 0 28.109 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.109 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.110 * [backup-simplify]: Simplify (+ 0 0) into 0 28.111 * [backup-simplify]: Simplify (+ 0) into 0 28.111 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.111 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.112 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.113 * [backup-simplify]: Simplify (- 0) into 0 28.113 * [backup-simplify]: Simplify (+ 0 0) into 0 28.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.114 * [backup-simplify]: Simplify (+ 0) into 0 28.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.116 * [backup-simplify]: Simplify (+ 0 0) into 0 28.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.117 * [backup-simplify]: Simplify (+ 0) into 0 28.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.119 * [backup-simplify]: Simplify (- 0) into 0 28.119 * [backup-simplify]: Simplify (+ 0 0) into 0 28.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.120 * [backup-simplify]: Simplify (+ 0) into 0 28.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.121 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.122 * [backup-simplify]: Simplify (- 0) into 0 28.123 * [backup-simplify]: Simplify (+ 0 0) into 0 28.123 * [backup-simplify]: Simplify (+ 0) into 0 28.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.125 * [backup-simplify]: Simplify (+ 0 0) into 0 28.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.126 * [backup-simplify]: Simplify (+ 0) into 0 28.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.127 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.128 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.128 * [backup-simplify]: Simplify (- 0) into 0 28.129 * [backup-simplify]: Simplify (+ 0 0) into 0 28.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.129 * [backup-simplify]: Simplify (+ 0) into 0 28.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.130 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.132 * [backup-simplify]: Simplify (+ 0 0) into 0 28.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.132 * [backup-simplify]: Simplify (+ 0 0) into 0 28.133 * [backup-simplify]: Simplify (- 0) into 0 28.133 * [backup-simplify]: Simplify (+ 0 0) into 0 28.136 * [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))))))) 1) (* 0 0)) 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))))))) 28.139 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 28.139 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 28.143 * [backup-simplify]: Simplify (+ (* (pow phi1 2) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) 28.146 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) 28.146 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 28.146 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 28.146 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 28.146 * [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 28.146 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.146 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.146 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.146 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.146 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.146 * [backup-simplify]: Simplify -0.5 into -0.5 28.146 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.146 * [backup-simplify]: Simplify phi2 into phi2 28.147 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.147 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.147 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.147 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.147 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.147 * [backup-simplify]: Simplify (- 0) into 0 28.147 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.147 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.147 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.147 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.147 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.147 * [backup-simplify]: Simplify -0.5 into -0.5 28.147 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.147 * [backup-simplify]: Simplify phi1 into phi1 28.147 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.148 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.148 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.148 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.148 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.148 * [backup-simplify]: Simplify (- 0) into 0 28.148 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.148 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.148 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.148 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.148 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.148 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.148 * [backup-simplify]: Simplify -0.5 into -0.5 28.148 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.148 * [backup-simplify]: Simplify phi2 into phi2 28.148 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.148 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.148 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.148 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.149 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.149 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.149 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.149 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.149 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.149 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.149 * [backup-simplify]: Simplify -0.5 into -0.5 28.149 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.149 * [backup-simplify]: Simplify phi1 into phi1 28.149 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.149 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.149 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.149 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.149 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.149 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.149 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 28.149 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.149 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.149 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.149 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.149 * [backup-simplify]: Simplify -0.5 into -0.5 28.149 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.149 * [backup-simplify]: Simplify phi2 into phi2 28.149 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.149 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.149 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.149 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.149 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.149 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.149 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.149 * [backup-simplify]: Simplify -0.5 into -0.5 28.149 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.149 * [backup-simplify]: Simplify phi2 into phi2 28.150 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.150 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.150 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.150 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.150 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.150 * [backup-simplify]: Simplify -0.5 into -0.5 28.150 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.150 * [backup-simplify]: Simplify phi1 into phi1 28.150 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.150 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.150 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.150 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.150 * [backup-simplify]: Simplify -0.5 into -0.5 28.150 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.150 * [backup-simplify]: Simplify phi1 into phi1 28.150 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.150 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.150 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.150 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.150 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.150 * [backup-simplify]: Simplify -0.5 into -0.5 28.150 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.150 * [backup-simplify]: Simplify phi2 into phi2 28.150 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.150 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.150 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.150 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.150 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.151 * [backup-simplify]: Simplify -0.5 into -0.5 28.151 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.151 * [backup-simplify]: Simplify phi2 into phi2 28.151 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.151 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.151 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.151 * [backup-simplify]: Simplify -0.5 into -0.5 28.151 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.151 * [backup-simplify]: Simplify phi1 into phi1 28.151 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.151 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.151 * [backup-simplify]: Simplify -0.5 into -0.5 28.151 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.151 * [backup-simplify]: Simplify phi1 into phi1 28.151 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.151 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.151 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.152 * [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)) 28.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.152 * [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)) 28.153 * [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))) 28.153 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.153 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.153 * [backup-simplify]: Simplify (- 0) into 0 28.153 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.153 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.153 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.153 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.154 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.154 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.154 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.154 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.154 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.154 * [backup-simplify]: Simplify (- 0) into 0 28.154 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.154 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.154 * [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)))) 28.155 * [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))))) 28.155 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.155 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.155 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.155 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.155 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.155 * [backup-simplify]: Simplify (- 0) into 0 28.155 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.155 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.155 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.156 * [backup-simplify]: Simplify (- 0) into 0 28.156 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.156 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.156 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.156 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.156 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.156 * [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)))) 28.156 * [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))))) 28.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.157 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.158 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.160 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 28.161 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.161 * [backup-simplify]: Simplify (+ 0) into 0 28.162 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.162 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.162 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.163 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.163 * [backup-simplify]: Simplify (- 0) into 0 28.163 * [backup-simplify]: Simplify (+ 0 0) into 0 28.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.164 * [backup-simplify]: Simplify (+ 0) into 0 28.164 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.164 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.165 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.165 * [backup-simplify]: Simplify (- 0) into 0 28.165 * [backup-simplify]: Simplify (+ 0 0) into 0 28.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.166 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.166 * [backup-simplify]: Simplify (+ 0) into 0 28.166 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.166 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.167 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.167 * [backup-simplify]: Simplify (+ 0 0) into 0 28.168 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.168 * [backup-simplify]: Simplify (+ 0) into 0 28.168 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.169 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.169 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.170 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.170 * [backup-simplify]: Simplify (+ 0 0) into 0 28.170 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.171 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.171 * [backup-simplify]: Simplify (+ 0 0) into 0 28.172 * [backup-simplify]: Simplify (+ 0) into 0 28.172 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.172 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.173 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.173 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.174 * [backup-simplify]: Simplify (- 0) into 0 28.174 * [backup-simplify]: Simplify (+ 0 0) into 0 28.175 * [backup-simplify]: Simplify (+ 0) into 0 28.175 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.175 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.176 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.176 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.177 * [backup-simplify]: Simplify (+ 0 0) into 0 28.177 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.177 * [backup-simplify]: Simplify (+ 0) into 0 28.178 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.178 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.179 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.179 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.180 * [backup-simplify]: Simplify (+ 0 0) into 0 28.180 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.180 * [backup-simplify]: Simplify (+ 0) into 0 28.181 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.181 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.183 * [backup-simplify]: Simplify (- 0) into 0 28.183 * [backup-simplify]: Simplify (+ 0 0) into 0 28.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.184 * [backup-simplify]: Simplify (+ 0) into 0 28.184 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.184 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.186 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.186 * [backup-simplify]: Simplify (+ 0 0) into 0 28.186 * [backup-simplify]: Simplify (+ 0) into 0 28.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.188 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.189 * [backup-simplify]: Simplify (- 0) into 0 28.189 * [backup-simplify]: Simplify (+ 0 0) into 0 28.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.190 * [backup-simplify]: Simplify (+ 0) into 0 28.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.190 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.192 * [backup-simplify]: Simplify (- 0) into 0 28.192 * [backup-simplify]: Simplify (+ 0 0) into 0 28.193 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.193 * [backup-simplify]: Simplify (+ 0) into 0 28.193 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.194 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.194 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.195 * [backup-simplify]: Simplify (+ 0 0) into 0 28.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.196 * [backup-simplify]: Simplify (+ 0 0) into 0 28.196 * [backup-simplify]: Simplify (- 0) into 0 28.197 * [backup-simplify]: Simplify (+ 0 0) into 0 28.201 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 28.203 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 28.203 * [taylor]: Taking taylor expansion of (+ (* 5/2 (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))))))))))) in lambda2 28.204 * [taylor]: Taking taylor expansion of (* 5/2 (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 28.204 * [taylor]: Taking taylor expansion of 5/2 in lambda2 28.204 * [backup-simplify]: Simplify 5/2 into 5/2 28.204 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 28.205 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 28.205 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) in lambda2 28.205 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.205 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.205 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.205 * [backup-simplify]: Simplify -0.5 into -0.5 28.205 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.205 * [backup-simplify]: Simplify phi1 into phi1 28.205 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.205 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.205 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.205 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2)))) in lambda2 28.205 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 5) in lambda2 28.205 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.205 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.205 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.205 * [backup-simplify]: Simplify -0.5 into -0.5 28.205 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.205 * [backup-simplify]: Simplify phi2 into phi2 28.205 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.205 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.205 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.206 * [backup-simplify]: Simplify (- 0) into 0 28.206 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.206 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))) in lambda2 28.206 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 5) in lambda2 28.206 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.206 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.206 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.206 * [backup-simplify]: Simplify -0.5 into -0.5 28.206 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.206 * [backup-simplify]: Simplify phi1 into phi1 28.206 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.206 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.206 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.206 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.206 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.207 * [backup-simplify]: Simplify (- 0) into 0 28.207 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.207 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.207 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.207 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.207 * [backup-simplify]: Simplify -0.5 into -0.5 28.207 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.207 * [backup-simplify]: Simplify phi2 into phi2 28.207 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.207 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.207 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.207 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 28.207 * [taylor]: Taking taylor expansion of R in lambda2 28.207 * [backup-simplify]: Simplify R into R 28.207 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 28.207 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 28.207 * [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 28.207 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.207 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.207 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.207 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.207 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.207 * [backup-simplify]: Simplify -0.5 into -0.5 28.207 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.207 * [backup-simplify]: Simplify phi2 into phi2 28.207 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.207 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.207 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.208 * [backup-simplify]: Simplify (- 0) into 0 28.208 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.208 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.208 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.208 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.208 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.208 * [backup-simplify]: Simplify -0.5 into -0.5 28.208 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.208 * [backup-simplify]: Simplify phi1 into phi1 28.208 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.208 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.208 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.208 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.208 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.209 * [backup-simplify]: Simplify (- 0) into 0 28.209 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.209 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.209 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.209 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.209 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.209 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.209 * [backup-simplify]: Simplify -0.5 into -0.5 28.209 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.209 * [backup-simplify]: Simplify phi2 into phi2 28.209 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.209 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.209 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.209 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.209 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.209 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.209 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.209 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.209 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.209 * [backup-simplify]: Simplify -0.5 into -0.5 28.209 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.209 * [backup-simplify]: Simplify phi1 into phi1 28.209 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.209 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.209 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.210 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.210 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.210 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 28.210 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.210 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.210 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.210 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.210 * [backup-simplify]: Simplify -0.5 into -0.5 28.210 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.210 * [backup-simplify]: Simplify phi2 into phi2 28.210 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.210 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.210 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.210 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.210 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.210 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.210 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.210 * [backup-simplify]: Simplify -0.5 into -0.5 28.210 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.210 * [backup-simplify]: Simplify phi2 into phi2 28.210 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.210 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.210 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.210 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.210 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.210 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.210 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.210 * [backup-simplify]: Simplify -0.5 into -0.5 28.210 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.210 * [backup-simplify]: Simplify phi1 into phi1 28.210 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.210 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.210 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.210 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.211 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.211 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.211 * [backup-simplify]: Simplify -0.5 into -0.5 28.211 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.211 * [backup-simplify]: Simplify phi1 into phi1 28.211 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.211 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.211 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.211 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.211 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.211 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.211 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.211 * [backup-simplify]: Simplify -0.5 into -0.5 28.211 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.211 * [backup-simplify]: Simplify phi2 into phi2 28.211 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.211 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.211 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.211 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.211 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.211 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.211 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.211 * [backup-simplify]: Simplify -0.5 into -0.5 28.211 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.211 * [backup-simplify]: Simplify phi2 into phi2 28.211 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.211 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.212 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.212 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.212 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.212 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.212 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.212 * [backup-simplify]: Simplify -0.5 into -0.5 28.212 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.212 * [backup-simplify]: Simplify phi1 into phi1 28.212 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.212 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.212 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.212 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.212 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.212 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.212 * [backup-simplify]: Simplify -0.5 into -0.5 28.212 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.212 * [backup-simplify]: Simplify phi1 into phi1 28.212 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.212 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.212 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.212 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 28.212 * [taylor]: Taking taylor expansion of lambda2 in lambda2 28.212 * [backup-simplify]: Simplify 0 into 0 28.212 * [backup-simplify]: Simplify 1 into 1 28.212 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.212 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.213 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.213 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.213 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4) 28.213 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 4)) into (pow (cos (/ -0.5 phi2)) 5) 28.213 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.213 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4) 28.213 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 4)) into (pow (cos (/ -0.5 phi1)) 5) 28.214 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.214 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.214 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.214 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))) into (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))) 28.214 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (pow (cos (/ -0.5 phi1)) 5))) 28.214 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (pow (cos (/ -0.5 phi1)) 5)))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 5) (pow (cos (/ -0.5 phi1)) 5)))) 28.214 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.215 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.215 * [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)) 28.215 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.215 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.215 * [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)) 28.216 * [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))) 28.216 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.216 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.216 * [backup-simplify]: Simplify (- 0) into 0 28.216 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.216 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.216 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.216 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.216 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.217 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.217 * [backup-simplify]: Simplify (- 0) into 0 28.217 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.217 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.217 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.217 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.217 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.217 * [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)))) 28.218 * [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))))) 28.218 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.218 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.218 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.218 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.218 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.218 * [backup-simplify]: Simplify (- 0) into 0 28.218 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.218 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.218 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.218 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.218 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.219 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.219 * [backup-simplify]: Simplify (- 0) into 0 28.219 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.219 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.219 * [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)))) 28.219 * [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))))) 28.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.220 * [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))))))) 28.221 * [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))))))) 28.222 * [backup-simplify]: Simplify (* 1 1) into 1 28.222 * [backup-simplify]: Simplify (* 1 1) into 1 28.223 * [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))))))) 1) 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))))))) 28.224 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 28.225 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 5) (pow (cos (/ -0.5 phi1)) 5)))) (* (- (+ (* (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))))))) R)) into (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 28.225 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 28.225 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 28.225 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 28.225 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 28.225 * [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 28.226 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.226 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.226 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.226 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.226 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.226 * [backup-simplify]: Simplify -0.5 into -0.5 28.226 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.226 * [backup-simplify]: Simplify phi2 into phi2 28.226 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.226 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.226 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.226 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.226 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.231 * [backup-simplify]: Simplify (- 0) into 0 28.231 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.231 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.232 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.232 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.232 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.232 * [backup-simplify]: Simplify -0.5 into -0.5 28.232 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.232 * [backup-simplify]: Simplify phi1 into phi1 28.232 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.232 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.232 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.232 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.232 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.232 * [backup-simplify]: Simplify (- 0) into 0 28.232 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.232 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.233 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.233 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.233 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.233 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.233 * [backup-simplify]: Simplify -0.5 into -0.5 28.233 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.233 * [backup-simplify]: Simplify phi2 into phi2 28.233 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.233 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.233 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.233 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.233 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.233 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.233 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.233 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.233 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.233 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.233 * [backup-simplify]: Simplify -0.5 into -0.5 28.233 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.233 * [backup-simplify]: Simplify phi1 into phi1 28.233 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.233 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.233 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.233 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.233 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.233 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.233 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 28.233 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.233 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.234 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.234 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.234 * [backup-simplify]: Simplify -0.5 into -0.5 28.234 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.234 * [backup-simplify]: Simplify phi2 into phi2 28.234 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.234 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.234 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.234 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.234 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.234 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.234 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.234 * [backup-simplify]: Simplify -0.5 into -0.5 28.234 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.234 * [backup-simplify]: Simplify phi2 into phi2 28.234 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.234 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.234 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.234 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.234 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.234 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.234 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.234 * [backup-simplify]: Simplify -0.5 into -0.5 28.234 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.234 * [backup-simplify]: Simplify phi1 into phi1 28.234 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.234 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.234 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.234 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.234 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.234 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.234 * [backup-simplify]: Simplify -0.5 into -0.5 28.234 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.234 * [backup-simplify]: Simplify phi1 into phi1 28.234 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.234 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.235 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.235 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.235 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.235 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.235 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.235 * [backup-simplify]: Simplify -0.5 into -0.5 28.235 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.235 * [backup-simplify]: Simplify phi2 into phi2 28.235 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.235 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.235 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.235 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.235 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.235 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.235 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.235 * [backup-simplify]: Simplify -0.5 into -0.5 28.235 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.235 * [backup-simplify]: Simplify phi2 into phi2 28.235 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.235 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.235 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.235 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.235 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.235 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.235 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.235 * [backup-simplify]: Simplify -0.5 into -0.5 28.235 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.235 * [backup-simplify]: Simplify phi1 into phi1 28.235 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.235 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.235 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.235 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.235 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.235 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.235 * [backup-simplify]: Simplify -0.5 into -0.5 28.235 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.235 * [backup-simplify]: Simplify phi1 into phi1 28.235 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.236 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.236 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.236 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.236 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.236 * [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)) 28.236 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.236 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.236 * [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)) 28.237 * [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))) 28.237 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.237 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.237 * [backup-simplify]: Simplify (- 0) into 0 28.237 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.238 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.238 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.238 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.238 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.238 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.238 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.238 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.238 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.238 * [backup-simplify]: Simplify (- 0) into 0 28.238 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.238 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.239 * [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)))) 28.239 * [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))))) 28.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.239 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.239 * [backup-simplify]: Simplify (- 0) into 0 28.239 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.240 * [backup-simplify]: Simplify (- 0) into 0 28.240 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.240 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.240 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.240 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.240 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.240 * [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)))) 28.240 * [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))))) 28.241 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.241 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.242 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.244 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 28.247 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 28.249 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.251 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.252 * [backup-simplify]: Simplify (+ 0) into 0 28.252 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.252 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.253 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.253 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.253 * [backup-simplify]: Simplify (- 0) into 0 28.253 * [backup-simplify]: Simplify (+ 0 0) into 0 28.254 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.254 * [backup-simplify]: Simplify (+ 0) into 0 28.254 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.254 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.255 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.255 * [backup-simplify]: Simplify (- 0) into 0 28.256 * [backup-simplify]: Simplify (+ 0 0) into 0 28.256 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.256 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.256 * [backup-simplify]: Simplify (+ 0) into 0 28.257 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.257 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.258 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.258 * [backup-simplify]: Simplify (+ 0 0) into 0 28.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.258 * [backup-simplify]: Simplify (+ 0) into 0 28.259 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.259 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.260 * [backup-simplify]: Simplify (+ 0 0) into 0 28.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.260 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.260 * [backup-simplify]: Simplify (+ 0 0) into 0 28.261 * [backup-simplify]: Simplify (+ 0) into 0 28.261 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.261 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.262 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.263 * [backup-simplify]: Simplify (- 0) into 0 28.263 * [backup-simplify]: Simplify (+ 0 0) into 0 28.263 * [backup-simplify]: Simplify (+ 0) into 0 28.263 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.264 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.264 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.264 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.265 * [backup-simplify]: Simplify (+ 0 0) into 0 28.265 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.265 * [backup-simplify]: Simplify (+ 0) into 0 28.265 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.265 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.266 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.267 * [backup-simplify]: Simplify (+ 0 0) into 0 28.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.267 * [backup-simplify]: Simplify (+ 0) into 0 28.267 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.267 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.268 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.268 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.268 * [backup-simplify]: Simplify (- 0) into 0 28.269 * [backup-simplify]: Simplify (+ 0 0) into 0 28.269 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.269 * [backup-simplify]: Simplify (+ 0) into 0 28.270 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.270 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.270 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.271 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.271 * [backup-simplify]: Simplify (+ 0 0) into 0 28.271 * [backup-simplify]: Simplify (+ 0) into 0 28.271 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.271 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.272 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.273 * [backup-simplify]: Simplify (- 0) into 0 28.273 * [backup-simplify]: Simplify (+ 0 0) into 0 28.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.274 * [backup-simplify]: Simplify (+ 0) into 0 28.274 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.275 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.276 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.276 * [backup-simplify]: Simplify (- 0) into 0 28.277 * [backup-simplify]: Simplify (+ 0 0) into 0 28.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.277 * [backup-simplify]: Simplify (+ 0) into 0 28.278 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.278 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.279 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.280 * [backup-simplify]: Simplify (+ 0 0) into 0 28.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.280 * [backup-simplify]: Simplify (+ 0 0) into 0 28.281 * [backup-simplify]: Simplify (- 0) into 0 28.281 * [backup-simplify]: Simplify (+ 0 0) into 0 28.285 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 28.289 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 28.297 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 28.301 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 28.301 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))))))))))))) in lambda2 28.302 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 28.302 * [taylor]: Taking taylor expansion of 3/2 in lambda2 28.302 * [backup-simplify]: Simplify 3/2 into 3/2 28.302 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 28.302 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 28.302 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) in lambda2 28.302 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2 28.302 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.302 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.302 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.302 * [backup-simplify]: Simplify -0.5 into -0.5 28.302 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.302 * [backup-simplify]: Simplify phi1 into phi1 28.302 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.302 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.302 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.302 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.302 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.302 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.302 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3))) in lambda2 28.302 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2 28.302 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.302 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.302 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.302 * [backup-simplify]: Simplify -0.5 into -0.5 28.302 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.302 * [backup-simplify]: Simplify phi1 into phi1 28.302 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.302 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.303 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.303 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.303 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.303 * [backup-simplify]: Simplify (- 0) into 0 28.303 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.303 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)) in lambda2 28.303 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2 28.303 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.303 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.303 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.303 * [backup-simplify]: Simplify -0.5 into -0.5 28.303 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.303 * [backup-simplify]: Simplify phi2 into phi2 28.303 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.303 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.303 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.304 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.304 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.304 * [backup-simplify]: Simplify (- 0) into 0 28.304 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.304 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2 28.304 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.304 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.304 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.304 * [backup-simplify]: Simplify -0.5 into -0.5 28.304 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.304 * [backup-simplify]: Simplify phi2 into phi2 28.304 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.304 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.304 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.304 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.304 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.304 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.304 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 28.304 * [taylor]: Taking taylor expansion of R in lambda2 28.304 * [backup-simplify]: Simplify R into R 28.304 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 28.305 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 28.305 * [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 28.305 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.305 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.305 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.305 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.305 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.305 * [backup-simplify]: Simplify -0.5 into -0.5 28.305 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.305 * [backup-simplify]: Simplify phi2 into phi2 28.305 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.305 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.305 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.305 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.305 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.305 * [backup-simplify]: Simplify (- 0) into 0 28.305 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.305 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.305 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.305 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.305 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.305 * [backup-simplify]: Simplify -0.5 into -0.5 28.305 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.305 * [backup-simplify]: Simplify phi1 into phi1 28.306 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.306 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.306 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.306 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.306 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.306 * [backup-simplify]: Simplify (- 0) into 0 28.306 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.306 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.306 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.306 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.306 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.306 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.306 * [backup-simplify]: Simplify -0.5 into -0.5 28.306 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.306 * [backup-simplify]: Simplify phi2 into phi2 28.306 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.306 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.306 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.306 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.307 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.307 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.307 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.307 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.307 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.307 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.307 * [backup-simplify]: Simplify -0.5 into -0.5 28.307 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.307 * [backup-simplify]: Simplify phi1 into phi1 28.307 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.307 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.307 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.307 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.307 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.307 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.307 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 28.307 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.307 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.307 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.307 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.307 * [backup-simplify]: Simplify -0.5 into -0.5 28.307 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.307 * [backup-simplify]: Simplify phi2 into phi2 28.307 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.307 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.307 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.307 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.307 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.307 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.307 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.307 * [backup-simplify]: Simplify -0.5 into -0.5 28.307 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.308 * [backup-simplify]: Simplify phi2 into phi2 28.308 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.308 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.308 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.308 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.308 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.308 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.308 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.308 * [backup-simplify]: Simplify -0.5 into -0.5 28.308 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.308 * [backup-simplify]: Simplify phi1 into phi1 28.308 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.308 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.308 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.308 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.308 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.308 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.308 * [backup-simplify]: Simplify -0.5 into -0.5 28.308 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.308 * [backup-simplify]: Simplify phi1 into phi1 28.308 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.308 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.308 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.308 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.308 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.308 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.308 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.308 * [backup-simplify]: Simplify -0.5 into -0.5 28.308 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.308 * [backup-simplify]: Simplify phi2 into phi2 28.308 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.308 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.308 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.308 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.308 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.308 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.309 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.309 * [backup-simplify]: Simplify -0.5 into -0.5 28.309 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.309 * [backup-simplify]: Simplify phi2 into phi2 28.309 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.309 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.309 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.309 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.309 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.309 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.309 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.309 * [backup-simplify]: Simplify -0.5 into -0.5 28.309 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.309 * [backup-simplify]: Simplify phi1 into phi1 28.309 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.309 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.309 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.309 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.309 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.309 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.309 * [backup-simplify]: Simplify -0.5 into -0.5 28.309 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.309 * [backup-simplify]: Simplify phi1 into phi1 28.309 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.309 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.309 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.309 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 28.309 * [taylor]: Taking taylor expansion of lambda2 in lambda2 28.309 * [backup-simplify]: Simplify 0 into 0 28.309 * [backup-simplify]: Simplify 1 into 1 28.309 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.310 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3) 28.310 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.310 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 28.310 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.310 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 28.310 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.310 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3) 28.311 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)) into (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)) 28.311 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3))) into (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3))) 28.311 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) into (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) 28.311 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.311 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.312 * [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)) 28.312 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.312 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.312 * [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)) 28.313 * [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))) 28.313 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.313 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.313 * [backup-simplify]: Simplify (- 0) into 0 28.313 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.313 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.314 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.314 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.314 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.314 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.314 * [backup-simplify]: Simplify (- 0) into 0 28.314 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.314 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.314 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.314 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.314 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.315 * [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)))) 28.315 * [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))))) 28.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.315 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.315 * [backup-simplify]: Simplify (- 0) into 0 28.315 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.316 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.316 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.316 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.316 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.316 * [backup-simplify]: Simplify (- 0) into 0 28.316 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.316 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.316 * [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)))) 28.317 * [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))))) 28.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.317 * [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))))))) 28.319 * [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))))))) 28.319 * [backup-simplify]: Simplify (* 1 1) into 1 28.319 * [backup-simplify]: Simplify (* 1 1) into 1 28.320 * [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))))))) 1) 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))))))) 28.321 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 28.323 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 28.323 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 28.323 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 28.323 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 28.323 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 28.323 * [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 28.323 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.323 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.323 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.323 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.323 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.323 * [backup-simplify]: Simplify -0.5 into -0.5 28.323 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.323 * [backup-simplify]: Simplify phi2 into phi2 28.323 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.323 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.323 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.324 * [backup-simplify]: Simplify (- 0) into 0 28.324 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.324 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.324 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.324 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.324 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.324 * [backup-simplify]: Simplify -0.5 into -0.5 28.324 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.324 * [backup-simplify]: Simplify phi1 into phi1 28.324 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.324 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.324 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.325 * [backup-simplify]: Simplify (- 0) into 0 28.325 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.325 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.325 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.325 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.325 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.325 * [backup-simplify]: Simplify -0.5 into -0.5 28.325 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.325 * [backup-simplify]: Simplify phi2 into phi2 28.325 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.325 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.325 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.325 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.325 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.325 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.325 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.325 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.325 * [backup-simplify]: Simplify -0.5 into -0.5 28.325 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.325 * [backup-simplify]: Simplify phi1 into phi1 28.325 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.326 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.326 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.326 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.326 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 28.326 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.326 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.326 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.326 * [backup-simplify]: Simplify -0.5 into -0.5 28.326 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.326 * [backup-simplify]: Simplify phi2 into phi2 28.326 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.326 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.326 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.326 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.326 * [backup-simplify]: Simplify -0.5 into -0.5 28.326 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.326 * [backup-simplify]: Simplify phi2 into phi2 28.326 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.326 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.326 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.326 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.326 * [backup-simplify]: Simplify -0.5 into -0.5 28.326 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.326 * [backup-simplify]: Simplify phi1 into phi1 28.326 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.327 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.327 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.327 * [backup-simplify]: Simplify -0.5 into -0.5 28.327 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.327 * [backup-simplify]: Simplify phi1 into phi1 28.327 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.327 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.327 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.327 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.327 * [backup-simplify]: Simplify -0.5 into -0.5 28.327 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.327 * [backup-simplify]: Simplify phi2 into phi2 28.327 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.327 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.327 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.327 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.327 * [backup-simplify]: Simplify -0.5 into -0.5 28.327 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.327 * [backup-simplify]: Simplify phi2 into phi2 28.327 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.327 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.327 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.327 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.327 * [backup-simplify]: Simplify -0.5 into -0.5 28.327 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.327 * [backup-simplify]: Simplify phi1 into phi1 28.328 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.328 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.328 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.328 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.328 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.328 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.328 * [backup-simplify]: Simplify -0.5 into -0.5 28.328 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.328 * [backup-simplify]: Simplify phi1 into phi1 28.328 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.328 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.328 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.328 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.328 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.328 * [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)) 28.328 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.329 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.329 * [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)) 28.329 * [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))) 28.329 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.329 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.330 * [backup-simplify]: Simplify (- 0) into 0 28.330 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.330 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.330 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.331 * [backup-simplify]: Simplify (- 0) into 0 28.331 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.331 * [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)))) 28.331 * [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))))) 28.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.331 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.331 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.331 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.332 * [backup-simplify]: Simplify (- 0) into 0 28.332 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.332 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.332 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.332 * [backup-simplify]: Simplify (- 0) into 0 28.333 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.333 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.333 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.333 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.333 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.333 * [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)))) 28.334 * [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))))) 28.334 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.335 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.338 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.342 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 28.345 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 28.347 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.350 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.350 * [backup-simplify]: Simplify (+ 0) into 0 28.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.351 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.352 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.352 * [backup-simplify]: Simplify (- 0) into 0 28.352 * [backup-simplify]: Simplify (+ 0 0) into 0 28.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.353 * [backup-simplify]: Simplify (+ 0) into 0 28.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.353 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.354 * [backup-simplify]: Simplify (- 0) into 0 28.355 * [backup-simplify]: Simplify (+ 0 0) into 0 28.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.355 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.355 * [backup-simplify]: Simplify (+ 0) into 0 28.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.356 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.357 * [backup-simplify]: Simplify (+ 0 0) into 0 28.357 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.357 * [backup-simplify]: Simplify (+ 0) into 0 28.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.362 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.364 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.364 * [backup-simplify]: Simplify (+ 0 0) into 0 28.364 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.365 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.365 * [backup-simplify]: Simplify (+ 0 0) into 0 28.365 * [backup-simplify]: Simplify (+ 0) into 0 28.366 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.366 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.366 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.367 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.367 * [backup-simplify]: Simplify (- 0) into 0 28.367 * [backup-simplify]: Simplify (+ 0 0) into 0 28.367 * [backup-simplify]: Simplify (+ 0) into 0 28.368 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.368 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.369 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.369 * [backup-simplify]: Simplify (+ 0 0) into 0 28.369 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.369 * [backup-simplify]: Simplify (+ 0) into 0 28.370 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.370 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.371 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.371 * [backup-simplify]: Simplify (+ 0 0) into 0 28.371 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.371 * [backup-simplify]: Simplify (+ 0) into 0 28.372 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.372 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.373 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.373 * [backup-simplify]: Simplify (- 0) into 0 28.373 * [backup-simplify]: Simplify (+ 0 0) into 0 28.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.374 * [backup-simplify]: Simplify (+ 0) into 0 28.374 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.374 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.375 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.375 * [backup-simplify]: Simplify (+ 0 0) into 0 28.375 * [backup-simplify]: Simplify (+ 0) into 0 28.376 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.376 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.377 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.377 * [backup-simplify]: Simplify (- 0) into 0 28.377 * [backup-simplify]: Simplify (+ 0 0) into 0 28.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.377 * [backup-simplify]: Simplify (+ 0) into 0 28.378 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.378 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.378 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.379 * [backup-simplify]: Simplify (- 0) into 0 28.379 * [backup-simplify]: Simplify (+ 0 0) into 0 28.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.380 * [backup-simplify]: Simplify (+ 0) into 0 28.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.380 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.381 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.382 * [backup-simplify]: Simplify (+ 0 0) into 0 28.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.383 * [backup-simplify]: Simplify (+ 0 0) into 0 28.383 * [backup-simplify]: Simplify (- 0) into 0 28.383 * [backup-simplify]: Simplify (+ 0 0) into 0 28.387 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 28.391 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 28.396 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 28.398 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 28.398 * [taylor]: Taking taylor expansion of (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))))))))) in lambda2 28.399 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 28.399 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))))) in lambda2 28.399 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2 28.399 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.399 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.399 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.399 * [backup-simplify]: Simplify -0.5 into -0.5 28.399 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.399 * [backup-simplify]: Simplify phi2 into phi2 28.399 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.399 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.399 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.399 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2 28.399 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.399 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.399 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.400 * [backup-simplify]: Simplify -0.5 into -0.5 28.400 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.400 * [backup-simplify]: Simplify phi1 into phi1 28.400 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.400 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2 28.400 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.400 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.400 * [backup-simplify]: Simplify -0.5 into -0.5 28.400 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.400 * [backup-simplify]: Simplify phi2 into phi2 28.400 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.400 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.400 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.400 * [backup-simplify]: Simplify -0.5 into -0.5 28.400 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.400 * [backup-simplify]: Simplify phi1 into phi1 28.400 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.400 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 28.400 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.400 * [backup-simplify]: Simplify phi2 into phi2 28.400 * [taylor]: Taking taylor expansion of (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 28.400 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.400 * [backup-simplify]: Simplify phi1 into phi1 28.400 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 28.400 * [taylor]: Taking taylor expansion of R in lambda2 28.400 * [backup-simplify]: Simplify R into R 28.400 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 28.400 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 28.400 * [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 28.401 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.401 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.401 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.401 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.401 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.401 * [backup-simplify]: Simplify -0.5 into -0.5 28.401 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.401 * [backup-simplify]: Simplify phi2 into phi2 28.401 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.401 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.401 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.401 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.401 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.401 * [backup-simplify]: Simplify (- 0) into 0 28.401 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.401 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.401 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.401 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.402 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.402 * [backup-simplify]: Simplify -0.5 into -0.5 28.402 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.402 * [backup-simplify]: Simplify phi1 into phi1 28.402 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.402 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.402 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.402 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.402 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.402 * [backup-simplify]: Simplify (- 0) into 0 28.402 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.402 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.402 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.402 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.402 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.402 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.402 * [backup-simplify]: Simplify -0.5 into -0.5 28.402 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.402 * [backup-simplify]: Simplify phi2 into phi2 28.402 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.402 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.402 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.403 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.403 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.403 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.403 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.403 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.403 * [backup-simplify]: Simplify -0.5 into -0.5 28.403 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.403 * [backup-simplify]: Simplify phi1 into phi1 28.403 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.403 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.403 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.403 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.403 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.403 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.403 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 28.403 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.403 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.403 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.403 * [backup-simplify]: Simplify -0.5 into -0.5 28.403 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.403 * [backup-simplify]: Simplify phi2 into phi2 28.403 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.403 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.403 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.403 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.403 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.404 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.404 * [backup-simplify]: Simplify -0.5 into -0.5 28.404 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.404 * [backup-simplify]: Simplify phi2 into phi2 28.404 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.404 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.404 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.404 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.404 * [backup-simplify]: Simplify -0.5 into -0.5 28.404 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.404 * [backup-simplify]: Simplify phi1 into phi1 28.404 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.404 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.404 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.404 * [backup-simplify]: Simplify -0.5 into -0.5 28.404 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.404 * [backup-simplify]: Simplify phi1 into phi1 28.404 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.404 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.404 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.404 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.404 * [backup-simplify]: Simplify -0.5 into -0.5 28.404 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.404 * [backup-simplify]: Simplify phi2 into phi2 28.404 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.405 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.405 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.405 * [backup-simplify]: Simplify -0.5 into -0.5 28.405 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.405 * [backup-simplify]: Simplify phi2 into phi2 28.405 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.405 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.405 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.405 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.405 * [backup-simplify]: Simplify -0.5 into -0.5 28.405 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.405 * [backup-simplify]: Simplify phi1 into phi1 28.405 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.405 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.405 * [backup-simplify]: Simplify -0.5 into -0.5 28.405 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.405 * [backup-simplify]: Simplify phi1 into phi1 28.405 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.405 * [taylor]: Taking taylor expansion of lambda2 in lambda2 28.405 * [backup-simplify]: Simplify 0 into 0 28.405 * [backup-simplify]: Simplify 1 into 1 28.405 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.406 * [backup-simplify]: Simplify (- 0) into 0 28.406 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.406 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.406 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.407 * [backup-simplify]: Simplify (- 0) into 0 28.407 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 28.407 * [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)))) 28.407 * [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))))) 28.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.408 * [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)) 28.408 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.408 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.408 * [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)) 28.409 * [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))) 28.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.409 * [backup-simplify]: Simplify (- 0) into 0 28.409 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.410 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.410 * [backup-simplify]: Simplify (- 0) into 0 28.410 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.410 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.410 * [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)))) 28.411 * [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))))) 28.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.411 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.411 * [backup-simplify]: Simplify (- 0) into 0 28.411 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.411 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.412 * [backup-simplify]: Simplify (- 0) into 0 28.412 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.412 * [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)))) 28.412 * [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))))) 28.413 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.414 * [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))))))) 28.415 * [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))))))) 28.416 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 28.416 * [backup-simplify]: Simplify (* R 0) into 0 28.416 * [backup-simplify]: Simplify (* phi1 0) into 0 28.416 * [backup-simplify]: Simplify (* phi2 0) into 0 28.417 * [backup-simplify]: Simplify (+ 0) into 0 28.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.417 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.419 * [backup-simplify]: Simplify (- 0) into 0 28.419 * [backup-simplify]: Simplify (+ 0 0) into 0 28.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.419 * [backup-simplify]: Simplify (+ 0) into 0 28.420 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.420 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.421 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.421 * [backup-simplify]: Simplify (- 0) into 0 28.421 * [backup-simplify]: Simplify (+ 0 0) into 0 28.422 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.422 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.422 * [backup-simplify]: Simplify (+ 0) into 0 28.423 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.423 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.424 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.424 * [backup-simplify]: Simplify (+ 0 0) into 0 28.424 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.424 * [backup-simplify]: Simplify (+ 0) into 0 28.425 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.425 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.426 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.426 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.427 * [backup-simplify]: Simplify (+ 0 0) into 0 28.427 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.427 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.428 * [backup-simplify]: Simplify (+ 0 0) into 0 28.428 * [backup-simplify]: Simplify (+ 0) into 0 28.429 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.429 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.431 * [backup-simplify]: Simplify (+ 0 0) into 0 28.431 * [backup-simplify]: Simplify (+ 0) into 0 28.432 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.432 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.433 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.433 * [backup-simplify]: Simplify (- 0) into 0 28.434 * [backup-simplify]: Simplify (+ 0 0) into 0 28.434 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.434 * [backup-simplify]: Simplify (+ 0) into 0 28.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.435 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.437 * [backup-simplify]: Simplify (+ 0 0) into 0 28.437 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.437 * [backup-simplify]: Simplify (+ 0) into 0 28.438 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.438 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.439 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.440 * [backup-simplify]: Simplify (- 0) into 0 28.440 * [backup-simplify]: Simplify (+ 0 0) into 0 28.441 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.441 * [backup-simplify]: Simplify (+ 0) into 0 28.441 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.443 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.443 * [backup-simplify]: Simplify (- 0) into 0 28.443 * [backup-simplify]: Simplify (+ 0 0) into 0 28.444 * [backup-simplify]: Simplify (+ 0) into 0 28.444 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.445 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.446 * [backup-simplify]: Simplify (+ 0 0) into 0 28.446 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.447 * [backup-simplify]: Simplify (+ 0) into 0 28.447 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.447 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.449 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.449 * [backup-simplify]: Simplify (- 0) into 0 28.449 * [backup-simplify]: Simplify (+ 0 0) into 0 28.450 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.450 * [backup-simplify]: Simplify (+ 0) into 0 28.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.451 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.452 * [backup-simplify]: Simplify (+ 0 0) into 0 28.453 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.453 * [backup-simplify]: Simplify (+ 0 0) into 0 28.454 * [backup-simplify]: Simplify (- 0) into 0 28.454 * [backup-simplify]: Simplify (+ 0 0) into 0 28.457 * [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))))))) 1) (* 0 0)) 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))))))) 28.459 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 28.463 * [backup-simplify]: Simplify (+ (* phi1 (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) 28.467 * [backup-simplify]: Simplify (+ (* phi2 (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (* 0 0)) into (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 28.470 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 28.470 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 28.472 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 28.472 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 28.472 * [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 28.472 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.472 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.472 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.472 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.472 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.472 * [backup-simplify]: Simplify -0.5 into -0.5 28.472 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.472 * [backup-simplify]: Simplify phi2 into phi2 28.472 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.472 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.472 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.472 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.473 * [backup-simplify]: Simplify (- 0) into 0 28.473 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.473 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.473 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.473 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.473 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.473 * [backup-simplify]: Simplify -0.5 into -0.5 28.473 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.473 * [backup-simplify]: Simplify phi1 into phi1 28.473 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.473 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.473 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.474 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.474 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.474 * [backup-simplify]: Simplify (- 0) into 0 28.474 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.474 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.474 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.474 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.474 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.474 * [backup-simplify]: Simplify -0.5 into -0.5 28.474 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.474 * [backup-simplify]: Simplify phi2 into phi2 28.474 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.474 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.475 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.475 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.475 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.475 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.475 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.475 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.475 * [backup-simplify]: Simplify -0.5 into -0.5 28.475 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.475 * [backup-simplify]: Simplify phi1 into phi1 28.475 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.475 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.475 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.476 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.476 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 28.476 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.476 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.476 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.476 * [backup-simplify]: Simplify -0.5 into -0.5 28.476 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.476 * [backup-simplify]: Simplify phi2 into phi2 28.476 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.476 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.476 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.476 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.476 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.476 * [backup-simplify]: Simplify -0.5 into -0.5 28.476 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.476 * [backup-simplify]: Simplify phi2 into phi2 28.476 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.477 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.477 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.477 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.477 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.477 * [backup-simplify]: Simplify -0.5 into -0.5 28.477 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.477 * [backup-simplify]: Simplify phi1 into phi1 28.477 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.477 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.477 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.477 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.477 * [backup-simplify]: Simplify -0.5 into -0.5 28.477 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.477 * [backup-simplify]: Simplify phi1 into phi1 28.477 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.477 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.477 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.477 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.477 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.477 * [backup-simplify]: Simplify -0.5 into -0.5 28.478 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.478 * [backup-simplify]: Simplify phi2 into phi2 28.478 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.478 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.478 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.478 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.478 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.478 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.478 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.478 * [backup-simplify]: Simplify -0.5 into -0.5 28.478 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.478 * [backup-simplify]: Simplify phi2 into phi2 28.478 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.478 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.478 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.478 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.478 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.478 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.478 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.478 * [backup-simplify]: Simplify -0.5 into -0.5 28.478 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.478 * [backup-simplify]: Simplify phi1 into phi1 28.478 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.479 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.479 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.479 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.479 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.479 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.479 * [backup-simplify]: Simplify -0.5 into -0.5 28.479 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.479 * [backup-simplify]: Simplify phi1 into phi1 28.479 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.479 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.479 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.480 * [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)) 28.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.480 * [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)) 28.481 * [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))) 28.481 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.481 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.482 * [backup-simplify]: Simplify (- 0) into 0 28.482 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.482 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.482 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.482 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.482 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.483 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.483 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.483 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.483 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.483 * [backup-simplify]: Simplify (- 0) into 0 28.483 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.483 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.484 * [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)))) 28.484 * [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))))) 28.484 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.484 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.484 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.485 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.485 * [backup-simplify]: Simplify (- 0) into 0 28.485 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.485 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.486 * [backup-simplify]: Simplify (- 0) into 0 28.486 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.486 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.486 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.486 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.486 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.487 * [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)))) 28.487 * [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))))) 28.488 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.489 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.491 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.493 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 28.495 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.495 * [backup-simplify]: Simplify (+ 0) into 0 28.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.496 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.498 * [backup-simplify]: Simplify (- 0) into 0 28.498 * [backup-simplify]: Simplify (+ 0 0) into 0 28.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.499 * [backup-simplify]: Simplify (+ 0) into 0 28.499 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.499 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.501 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.501 * [backup-simplify]: Simplify (- 0) into 0 28.501 * [backup-simplify]: Simplify (+ 0 0) into 0 28.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.502 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.503 * [backup-simplify]: Simplify (+ 0) into 0 28.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.503 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.512 * [backup-simplify]: Simplify (+ 0 0) into 0 28.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.512 * [backup-simplify]: Simplify (+ 0) into 0 28.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.513 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.516 * [backup-simplify]: Simplify (+ 0 0) into 0 28.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.516 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.517 * [backup-simplify]: Simplify (+ 0 0) into 0 28.517 * [backup-simplify]: Simplify (+ 0) into 0 28.518 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.520 * [backup-simplify]: Simplify (- 0) into 0 28.520 * [backup-simplify]: Simplify (+ 0 0) into 0 28.521 * [backup-simplify]: Simplify (+ 0) into 0 28.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.521 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.523 * [backup-simplify]: Simplify (+ 0 0) into 0 28.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.524 * [backup-simplify]: Simplify (+ 0) into 0 28.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.524 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.525 * [backup-simplify]: Simplify (+ 0 0) into 0 28.525 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.526 * [backup-simplify]: Simplify (+ 0) into 0 28.526 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.526 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.527 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.527 * [backup-simplify]: Simplify (- 0) into 0 28.527 * [backup-simplify]: Simplify (+ 0 0) into 0 28.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.528 * [backup-simplify]: Simplify (+ 0) into 0 28.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.528 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.529 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.529 * [backup-simplify]: Simplify (+ 0 0) into 0 28.530 * [backup-simplify]: Simplify (+ 0) into 0 28.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.530 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.531 * [backup-simplify]: Simplify (- 0) into 0 28.531 * [backup-simplify]: Simplify (+ 0 0) into 0 28.531 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.532 * [backup-simplify]: Simplify (+ 0) into 0 28.532 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.532 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.533 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.533 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.533 * [backup-simplify]: Simplify (- 0) into 0 28.533 * [backup-simplify]: Simplify (+ 0 0) into 0 28.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.534 * [backup-simplify]: Simplify (+ 0) into 0 28.534 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.534 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.535 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.535 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.535 * [backup-simplify]: Simplify (+ 0 0) into 0 28.536 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.536 * [backup-simplify]: Simplify (+ 0 0) into 0 28.536 * [backup-simplify]: Simplify (- 0) into 0 28.536 * [backup-simplify]: Simplify (+ 0 0) into 0 28.539 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 28.540 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 28.540 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))))))))))) in lambda2 28.540 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 28.540 * [taylor]: Taking taylor expansion of 1/2 in lambda2 28.540 * [backup-simplify]: Simplify 1/2 into 1/2 28.540 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 28.540 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 28.541 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) in lambda2 28.541 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.541 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.541 * [backup-simplify]: Simplify -0.5 into -0.5 28.541 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.541 * [backup-simplify]: Simplify phi1 into phi1 28.541 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.541 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5))) in lambda2 28.541 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.541 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.541 * [backup-simplify]: Simplify -0.5 into -0.5 28.541 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.541 * [backup-simplify]: Simplify phi2 into phi2 28.541 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.541 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)) in lambda2 28.541 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 5) in lambda2 28.541 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.541 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.541 * [backup-simplify]: Simplify -0.5 into -0.5 28.541 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.541 * [backup-simplify]: Simplify phi1 into phi1 28.541 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.541 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.542 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.542 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 5) in lambda2 28.542 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.542 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.542 * [backup-simplify]: Simplify -0.5 into -0.5 28.542 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.542 * [backup-simplify]: Simplify phi2 into phi2 28.542 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.542 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.542 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.542 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.542 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 28.542 * [taylor]: Taking taylor expansion of R in lambda2 28.542 * [backup-simplify]: Simplify R into R 28.542 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 28.542 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 28.542 * [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 28.542 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.542 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.542 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.542 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.542 * [backup-simplify]: Simplify -0.5 into -0.5 28.542 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.542 * [backup-simplify]: Simplify phi2 into phi2 28.542 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.542 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.542 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.543 * [backup-simplify]: Simplify (- 0) into 0 28.543 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.543 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.543 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.543 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.543 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.543 * [backup-simplify]: Simplify -0.5 into -0.5 28.543 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.543 * [backup-simplify]: Simplify phi1 into phi1 28.543 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.543 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.543 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.544 * [backup-simplify]: Simplify (- 0) into 0 28.544 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.544 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.544 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.544 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.544 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.544 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.544 * [backup-simplify]: Simplify -0.5 into -0.5 28.544 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.544 * [backup-simplify]: Simplify phi2 into phi2 28.544 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.544 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.544 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.544 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.544 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.544 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.544 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.544 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.545 * [backup-simplify]: Simplify -0.5 into -0.5 28.545 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.545 * [backup-simplify]: Simplify phi1 into phi1 28.545 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.545 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.545 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.545 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.545 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 28.545 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.545 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.545 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.545 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.545 * [backup-simplify]: Simplify -0.5 into -0.5 28.545 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.545 * [backup-simplify]: Simplify phi2 into phi2 28.545 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.545 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.545 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.545 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.545 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.545 * [backup-simplify]: Simplify -0.5 into -0.5 28.545 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.545 * [backup-simplify]: Simplify phi2 into phi2 28.545 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.545 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.545 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.546 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.546 * [backup-simplify]: Simplify -0.5 into -0.5 28.546 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.546 * [backup-simplify]: Simplify phi1 into phi1 28.546 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.546 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.546 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.546 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.546 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.546 * [backup-simplify]: Simplify -0.5 into -0.5 28.546 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.546 * [backup-simplify]: Simplify phi1 into phi1 28.546 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.546 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.546 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.546 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.546 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.546 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.546 * [backup-simplify]: Simplify -0.5 into -0.5 28.546 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.546 * [backup-simplify]: Simplify phi2 into phi2 28.546 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.546 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.546 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.546 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.546 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.546 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.546 * [backup-simplify]: Simplify -0.5 into -0.5 28.546 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.546 * [backup-simplify]: Simplify phi2 into phi2 28.547 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.547 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.547 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.547 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.547 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.547 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.547 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.547 * [backup-simplify]: Simplify -0.5 into -0.5 28.547 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.547 * [backup-simplify]: Simplify phi1 into phi1 28.547 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.547 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.547 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.547 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.547 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.547 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.547 * [backup-simplify]: Simplify -0.5 into -0.5 28.547 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.547 * [backup-simplify]: Simplify phi1 into phi1 28.547 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.547 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.547 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.547 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 28.547 * [taylor]: Taking taylor expansion of lambda2 in lambda2 28.547 * [backup-simplify]: Simplify 0 into 0 28.547 * [backup-simplify]: Simplify 1 into 1 28.547 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.547 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.548 * [backup-simplify]: Simplify (- 0) into 0 28.548 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.548 * [backup-simplify]: Simplify (- 0) into 0 28.548 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.549 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4) 28.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 4)) into (pow (sin (/ -0.5 phi1)) 5) 28.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.549 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4) 28.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 4)) into (pow (sin (/ -0.5 phi2)) 5) 28.549 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)) into (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)) 28.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5))) into (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi1)) 5))) 28.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi1)) 5)))) into (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi1)) 5)))) 28.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.550 * [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)) 28.550 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.551 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.551 * [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)) 28.551 * [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))) 28.551 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.551 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.552 * [backup-simplify]: Simplify (- 0) into 0 28.552 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.552 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.552 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.552 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.552 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.552 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.552 * [backup-simplify]: Simplify (- 0) into 0 28.552 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.553 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.553 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.553 * [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)))) 28.553 * [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))))) 28.553 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.553 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.553 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.554 * [backup-simplify]: Simplify (- 0) into 0 28.554 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.554 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.554 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.554 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.554 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.554 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.554 * [backup-simplify]: Simplify (- 0) into 0 28.554 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.555 * [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)))) 28.555 * [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))))) 28.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.556 * [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))))))) 28.557 * [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))))))) 28.558 * [backup-simplify]: Simplify (* 1 1) into 1 28.558 * [backup-simplify]: Simplify (* 1 1) into 1 28.560 * [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))))))) 1) 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))))))) 28.562 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 28.565 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi1)) 5)))) (* (- (+ (* (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))))))) R)) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 28.565 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 28.565 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 28.565 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 28.565 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 28.565 * [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 28.565 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.565 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.565 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.565 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.565 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.565 * [backup-simplify]: Simplify -0.5 into -0.5 28.565 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.565 * [backup-simplify]: Simplify phi2 into phi2 28.565 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.565 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.565 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.566 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.566 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.566 * [backup-simplify]: Simplify (- 0) into 0 28.566 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.566 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.566 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.566 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.567 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.567 * [backup-simplify]: Simplify -0.5 into -0.5 28.567 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.567 * [backup-simplify]: Simplify phi1 into phi1 28.567 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.567 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.567 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.567 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.567 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.567 * [backup-simplify]: Simplify (- 0) into 0 28.568 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.568 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.568 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.568 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.568 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.568 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.568 * [backup-simplify]: Simplify -0.5 into -0.5 28.568 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.568 * [backup-simplify]: Simplify phi2 into phi2 28.568 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.568 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.568 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.568 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.568 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.568 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.569 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.569 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.569 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.569 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.569 * [backup-simplify]: Simplify -0.5 into -0.5 28.569 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.569 * [backup-simplify]: Simplify phi1 into phi1 28.569 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.569 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.569 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.569 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.569 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.569 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.569 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 28.569 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.569 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.569 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.569 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.570 * [backup-simplify]: Simplify -0.5 into -0.5 28.570 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.570 * [backup-simplify]: Simplify phi2 into phi2 28.570 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.570 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.570 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.570 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.570 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.570 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.570 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.570 * [backup-simplify]: Simplify -0.5 into -0.5 28.570 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.570 * [backup-simplify]: Simplify phi2 into phi2 28.570 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.570 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.570 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.570 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.570 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.570 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.570 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.570 * [backup-simplify]: Simplify -0.5 into -0.5 28.571 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.571 * [backup-simplify]: Simplify phi1 into phi1 28.571 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.571 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.571 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.571 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.571 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.571 * [backup-simplify]: Simplify -0.5 into -0.5 28.571 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.571 * [backup-simplify]: Simplify phi1 into phi1 28.571 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.571 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.571 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.571 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.571 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.571 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.571 * [backup-simplify]: Simplify -0.5 into -0.5 28.571 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.571 * [backup-simplify]: Simplify phi2 into phi2 28.572 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.572 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.572 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.572 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.572 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.572 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.572 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.572 * [backup-simplify]: Simplify -0.5 into -0.5 28.572 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.572 * [backup-simplify]: Simplify phi2 into phi2 28.572 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.572 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.572 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.572 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.572 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.572 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.572 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.572 * [backup-simplify]: Simplify -0.5 into -0.5 28.572 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.572 * [backup-simplify]: Simplify phi1 into phi1 28.572 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.573 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.573 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.573 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.573 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.573 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.573 * [backup-simplify]: Simplify -0.5 into -0.5 28.573 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.573 * [backup-simplify]: Simplify phi1 into phi1 28.573 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.573 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.573 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.574 * [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)) 28.574 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.575 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.575 * [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)) 28.576 * [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))) 28.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.577 * [backup-simplify]: Simplify (- 0) into 0 28.577 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.577 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.577 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.577 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.578 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.578 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.578 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.578 * [backup-simplify]: Simplify (- 0) into 0 28.578 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.578 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.579 * [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)))) 28.579 * [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))))) 28.579 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.579 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.580 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.580 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.580 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.580 * [backup-simplify]: Simplify (- 0) into 0 28.580 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.580 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.581 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.581 * [backup-simplify]: Simplify (- 0) into 0 28.581 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.581 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.581 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.581 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.582 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.582 * [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)))) 28.582 * [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))))) 28.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.584 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.586 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.590 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 28.594 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 28.598 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.603 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.603 * [backup-simplify]: Simplify (+ 0) into 0 28.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.605 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.606 * [backup-simplify]: Simplify (- 0) into 0 28.606 * [backup-simplify]: Simplify (+ 0 0) into 0 28.606 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.607 * [backup-simplify]: Simplify (+ 0) into 0 28.607 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.607 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.608 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.609 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.609 * [backup-simplify]: Simplify (- 0) into 0 28.609 * [backup-simplify]: Simplify (+ 0 0) into 0 28.610 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.610 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.610 * [backup-simplify]: Simplify (+ 0) into 0 28.611 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.611 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.612 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.613 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.613 * [backup-simplify]: Simplify (+ 0 0) into 0 28.613 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.614 * [backup-simplify]: Simplify (+ 0) into 0 28.614 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.614 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.615 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.616 * [backup-simplify]: Simplify (+ 0 0) into 0 28.616 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.616 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.617 * [backup-simplify]: Simplify (+ 0 0) into 0 28.617 * [backup-simplify]: Simplify (+ 0) into 0 28.618 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.618 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.619 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.619 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.620 * [backup-simplify]: Simplify (- 0) into 0 28.620 * [backup-simplify]: Simplify (+ 0 0) into 0 28.620 * [backup-simplify]: Simplify (+ 0) into 0 28.621 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.622 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.622 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.623 * [backup-simplify]: Simplify (+ 0 0) into 0 28.623 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.623 * [backup-simplify]: Simplify (+ 0) into 0 28.624 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.624 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.625 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.626 * [backup-simplify]: Simplify (+ 0 0) into 0 28.626 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.626 * [backup-simplify]: Simplify (+ 0) into 0 28.627 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.627 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.628 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.628 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.629 * [backup-simplify]: Simplify (- 0) into 0 28.629 * [backup-simplify]: Simplify (+ 0 0) into 0 28.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.630 * [backup-simplify]: Simplify (+ 0) into 0 28.630 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.631 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.631 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.632 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.632 * [backup-simplify]: Simplify (+ 0 0) into 0 28.633 * [backup-simplify]: Simplify (+ 0) into 0 28.633 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.633 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.635 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.635 * [backup-simplify]: Simplify (- 0) into 0 28.636 * [backup-simplify]: Simplify (+ 0 0) into 0 28.636 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.636 * [backup-simplify]: Simplify (+ 0) into 0 28.637 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.637 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.638 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.639 * [backup-simplify]: Simplify (- 0) into 0 28.639 * [backup-simplify]: Simplify (+ 0 0) into 0 28.639 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.640 * [backup-simplify]: Simplify (+ 0) into 0 28.640 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.640 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.641 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.641 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.642 * [backup-simplify]: Simplify (+ 0 0) into 0 28.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.642 * [backup-simplify]: Simplify (+ 0 0) into 0 28.643 * [backup-simplify]: Simplify (- 0) into 0 28.643 * [backup-simplify]: Simplify (+ 0 0) into 0 28.646 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 28.650 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 28.658 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 28.662 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 28.662 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))))))) in lambda2 28.663 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 28.663 * [taylor]: Taking taylor expansion of 1/2 in lambda2 28.663 * [backup-simplify]: Simplify 1/2 into 1/2 28.663 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 28.663 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 28.663 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) in lambda2 28.663 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.663 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.663 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.664 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.664 * [backup-simplify]: Simplify -0.5 into -0.5 28.664 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.664 * [backup-simplify]: Simplify phi1 into phi1 28.664 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.664 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.664 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.664 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.664 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.664 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.664 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.664 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.664 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.664 * [backup-simplify]: Simplify -0.5 into -0.5 28.664 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.664 * [backup-simplify]: Simplify phi2 into phi2 28.664 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.665 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.665 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.665 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.665 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.665 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 28.665 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 28.665 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.665 * [backup-simplify]: Simplify phi1 into phi1 28.665 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 28.665 * [taylor]: Taking taylor expansion of R in lambda2 28.665 * [backup-simplify]: Simplify R into R 28.665 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 28.665 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 28.665 * [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 28.665 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.665 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.665 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.665 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.666 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.666 * [backup-simplify]: Simplify -0.5 into -0.5 28.666 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.666 * [backup-simplify]: Simplify phi2 into phi2 28.666 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.666 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.666 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.666 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.673 * [backup-simplify]: Simplify (- 0) into 0 28.673 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.673 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.674 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.674 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.674 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.674 * [backup-simplify]: Simplify -0.5 into -0.5 28.674 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.674 * [backup-simplify]: Simplify phi1 into phi1 28.674 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.674 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.674 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.674 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.674 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.675 * [backup-simplify]: Simplify (- 0) into 0 28.675 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.675 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.675 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.675 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.675 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.675 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.675 * [backup-simplify]: Simplify -0.5 into -0.5 28.675 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.675 * [backup-simplify]: Simplify phi2 into phi2 28.675 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.675 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.675 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.675 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.675 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.676 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.676 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.676 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.676 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.676 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.676 * [backup-simplify]: Simplify -0.5 into -0.5 28.676 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.676 * [backup-simplify]: Simplify phi1 into phi1 28.676 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.676 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.676 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.676 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.676 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.676 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.676 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 28.676 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.676 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.676 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.676 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.676 * [backup-simplify]: Simplify -0.5 into -0.5 28.677 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.677 * [backup-simplify]: Simplify phi2 into phi2 28.677 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.677 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.677 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.677 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.677 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.677 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.677 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.677 * [backup-simplify]: Simplify -0.5 into -0.5 28.677 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.677 * [backup-simplify]: Simplify phi2 into phi2 28.677 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.677 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.677 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.677 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.677 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.677 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.677 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.677 * [backup-simplify]: Simplify -0.5 into -0.5 28.677 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.677 * [backup-simplify]: Simplify phi1 into phi1 28.677 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.678 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.678 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.678 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.678 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.678 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.678 * [backup-simplify]: Simplify -0.5 into -0.5 28.678 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.678 * [backup-simplify]: Simplify phi1 into phi1 28.678 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.678 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.678 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.678 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.678 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.678 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.678 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.678 * [backup-simplify]: Simplify -0.5 into -0.5 28.678 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.678 * [backup-simplify]: Simplify phi2 into phi2 28.678 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.678 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.678 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.678 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.679 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.679 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.679 * [backup-simplify]: Simplify -0.5 into -0.5 28.679 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.679 * [backup-simplify]: Simplify phi2 into phi2 28.679 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.679 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.679 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.679 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.679 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.679 * [backup-simplify]: Simplify -0.5 into -0.5 28.679 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.679 * [backup-simplify]: Simplify phi1 into phi1 28.679 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.679 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.679 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.679 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.679 * [backup-simplify]: Simplify -0.5 into -0.5 28.679 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.679 * [backup-simplify]: Simplify phi1 into phi1 28.679 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.680 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.680 * [taylor]: Taking taylor expansion of lambda2 in lambda2 28.680 * [backup-simplify]: Simplify 0 into 0 28.680 * [backup-simplify]: Simplify 1 into 1 28.680 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.680 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.681 * [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)) 28.681 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 28.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.681 * [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)) 28.681 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.682 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.682 * [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)) 28.683 * [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))) 28.683 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.684 * [backup-simplify]: Simplify (- 0) into 0 28.684 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.684 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.684 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.685 * [backup-simplify]: Simplify (- 0) into 0 28.685 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.685 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.685 * [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)))) 28.686 * [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))))) 28.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.686 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.687 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.688 * [backup-simplify]: Simplify (- 0) into 0 28.688 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.688 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.688 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.688 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.688 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.688 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.689 * [backup-simplify]: Simplify (- 0) into 0 28.689 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.689 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.689 * [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)))) 28.690 * [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))))) 28.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.691 * [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))))))) 28.693 * [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))))))) 28.696 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 28.696 * [backup-simplify]: Simplify (* R 0) into 0 28.696 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0 28.697 * [backup-simplify]: Simplify (+ 0) into 0 28.697 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.697 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.699 * [backup-simplify]: Simplify (- 0) into 0 28.699 * [backup-simplify]: Simplify (+ 0 0) into 0 28.700 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.700 * [backup-simplify]: Simplify (+ 0) into 0 28.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.701 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.702 * [backup-simplify]: Simplify (- 0) into 0 28.703 * [backup-simplify]: Simplify (+ 0 0) into 0 28.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.704 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.704 * [backup-simplify]: Simplify (+ 0) into 0 28.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.705 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.706 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.706 * [backup-simplify]: Simplify (+ 0 0) into 0 28.707 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.707 * [backup-simplify]: Simplify (+ 0) into 0 28.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.708 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.709 * [backup-simplify]: Simplify (+ 0 0) into 0 28.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.710 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.710 * [backup-simplify]: Simplify (+ 0 0) into 0 28.711 * [backup-simplify]: Simplify (+ 0) into 0 28.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.711 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.712 * [backup-simplify]: Simplify (+ 0 0) into 0 28.713 * [backup-simplify]: Simplify (+ 0) into 0 28.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.713 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.714 * [backup-simplify]: Simplify (- 0) into 0 28.715 * [backup-simplify]: Simplify (+ 0 0) into 0 28.715 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.715 * [backup-simplify]: Simplify (+ 0) into 0 28.715 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.715 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.716 * [backup-simplify]: Simplify (+ 0 0) into 0 28.717 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.717 * [backup-simplify]: Simplify (+ 0) into 0 28.717 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.717 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.718 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.718 * [backup-simplify]: Simplify (- 0) into 0 28.719 * [backup-simplify]: Simplify (+ 0 0) into 0 28.719 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.719 * [backup-simplify]: Simplify (+ 0) into 0 28.719 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.720 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.720 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.721 * [backup-simplify]: Simplify (- 0) into 0 28.721 * [backup-simplify]: Simplify (+ 0 0) into 0 28.721 * [backup-simplify]: Simplify (+ 0) into 0 28.721 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.722 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.722 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.723 * [backup-simplify]: Simplify (+ 0 0) into 0 28.723 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.723 * [backup-simplify]: Simplify (+ 0) into 0 28.723 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.723 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.724 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.724 * [backup-simplify]: Simplify (- 0) into 0 28.725 * [backup-simplify]: Simplify (+ 0 0) into 0 28.725 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.725 * [backup-simplify]: Simplify (+ 0) into 0 28.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.726 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.726 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.727 * [backup-simplify]: Simplify (+ 0 0) into 0 28.727 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.727 * [backup-simplify]: Simplify (+ 0 0) into 0 28.727 * [backup-simplify]: Simplify (- 0) into 0 28.728 * [backup-simplify]: Simplify (+ 0 0) into 0 28.729 * [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))))))) 1) (* 0 0)) 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))))))) 28.731 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 28.731 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 28.733 * [backup-simplify]: Simplify (+ (* (pow phi1 2) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) 28.735 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) into (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) 28.735 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 28.735 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 28.735 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 28.735 * [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 28.735 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.735 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.735 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.735 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.735 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.735 * [backup-simplify]: Simplify -0.5 into -0.5 28.735 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.735 * [backup-simplify]: Simplify phi2 into phi2 28.735 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.735 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.735 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.735 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.736 * [backup-simplify]: Simplify (- 0) into 0 28.736 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.736 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.736 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.736 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.736 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.736 * [backup-simplify]: Simplify -0.5 into -0.5 28.736 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.736 * [backup-simplify]: Simplify phi1 into phi1 28.736 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.736 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.736 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.736 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.736 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.736 * [backup-simplify]: Simplify (- 0) into 0 28.736 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.736 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.736 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.736 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.736 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.736 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.736 * [backup-simplify]: Simplify -0.5 into -0.5 28.736 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.736 * [backup-simplify]: Simplify phi2 into phi2 28.737 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.737 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.737 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.737 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.737 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.737 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.737 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.737 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.737 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.737 * [backup-simplify]: Simplify -0.5 into -0.5 28.737 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.737 * [backup-simplify]: Simplify phi1 into phi1 28.737 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.737 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.737 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.737 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.737 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.737 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 28.737 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.737 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.737 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.737 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.737 * [backup-simplify]: Simplify -0.5 into -0.5 28.737 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.737 * [backup-simplify]: Simplify phi2 into phi2 28.737 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.738 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.738 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.738 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.738 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.738 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.738 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.738 * [backup-simplify]: Simplify -0.5 into -0.5 28.738 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.738 * [backup-simplify]: Simplify phi2 into phi2 28.738 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.738 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.738 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.738 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.738 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.738 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.738 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.738 * [backup-simplify]: Simplify -0.5 into -0.5 28.738 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.738 * [backup-simplify]: Simplify phi1 into phi1 28.738 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.738 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.738 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.738 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.738 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.738 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.738 * [backup-simplify]: Simplify -0.5 into -0.5 28.738 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.738 * [backup-simplify]: Simplify phi1 into phi1 28.738 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.738 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.739 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.739 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.739 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.739 * [backup-simplify]: Simplify -0.5 into -0.5 28.739 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.739 * [backup-simplify]: Simplify phi2 into phi2 28.739 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.739 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.739 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.739 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.739 * [backup-simplify]: Simplify -0.5 into -0.5 28.739 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.739 * [backup-simplify]: Simplify phi2 into phi2 28.739 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.739 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.739 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.740 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.740 * [backup-simplify]: Simplify -0.5 into -0.5 28.740 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.740 * [backup-simplify]: Simplify phi1 into phi1 28.740 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.740 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.740 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.740 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.740 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.740 * [backup-simplify]: Simplify -0.5 into -0.5 28.740 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.740 * [backup-simplify]: Simplify phi1 into phi1 28.740 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.740 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.740 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.741 * [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)) 28.741 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.741 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.742 * [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)) 28.742 * [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))) 28.743 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.743 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.743 * [backup-simplify]: Simplify (- 0) into 0 28.744 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.744 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.744 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.744 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.745 * [backup-simplify]: Simplify (- 0) into 0 28.745 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.745 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.746 * [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)))) 28.746 * [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))))) 28.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.746 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.747 * [backup-simplify]: Simplify (- 0) into 0 28.747 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.748 * [backup-simplify]: Simplify (- 0) into 0 28.748 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.748 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.748 * [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)))) 28.749 * [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))))) 28.749 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.750 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.752 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.754 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 28.755 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.756 * [backup-simplify]: Simplify (+ 0) into 0 28.756 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.756 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.757 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.757 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.757 * [backup-simplify]: Simplify (- 0) into 0 28.757 * [backup-simplify]: Simplify (+ 0 0) into 0 28.758 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.758 * [backup-simplify]: Simplify (+ 0) into 0 28.758 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.758 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.759 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.759 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.759 * [backup-simplify]: Simplify (- 0) into 0 28.760 * [backup-simplify]: Simplify (+ 0 0) into 0 28.760 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.760 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.760 * [backup-simplify]: Simplify (+ 0) into 0 28.761 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.761 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.761 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.762 * [backup-simplify]: Simplify (+ 0 0) into 0 28.762 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.762 * [backup-simplify]: Simplify (+ 0) into 0 28.762 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.763 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.764 * [backup-simplify]: Simplify (+ 0 0) into 0 28.764 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.764 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.764 * [backup-simplify]: Simplify (+ 0 0) into 0 28.765 * [backup-simplify]: Simplify (+ 0) into 0 28.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.765 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.766 * [backup-simplify]: Simplify (- 0) into 0 28.766 * [backup-simplify]: Simplify (+ 0 0) into 0 28.767 * [backup-simplify]: Simplify (+ 0) into 0 28.767 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.767 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.768 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.768 * [backup-simplify]: Simplify (+ 0 0) into 0 28.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.768 * [backup-simplify]: Simplify (+ 0) into 0 28.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.770 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.770 * [backup-simplify]: Simplify (+ 0 0) into 0 28.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.771 * [backup-simplify]: Simplify (+ 0) into 0 28.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.771 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.772 * [backup-simplify]: Simplify (- 0) into 0 28.772 * [backup-simplify]: Simplify (+ 0 0) into 0 28.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.773 * [backup-simplify]: Simplify (+ 0) into 0 28.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.773 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.774 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.774 * [backup-simplify]: Simplify (+ 0 0) into 0 28.775 * [backup-simplify]: Simplify (+ 0) into 0 28.775 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.775 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.776 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.776 * [backup-simplify]: Simplify (- 0) into 0 28.776 * [backup-simplify]: Simplify (+ 0 0) into 0 28.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.777 * [backup-simplify]: Simplify (+ 0) into 0 28.777 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.777 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.778 * [backup-simplify]: Simplify (- 0) into 0 28.778 * [backup-simplify]: Simplify (+ 0 0) into 0 28.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.779 * [backup-simplify]: Simplify (+ 0) into 0 28.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.779 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.780 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.780 * [backup-simplify]: Simplify (+ 0 0) into 0 28.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.781 * [backup-simplify]: Simplify (+ 0 0) into 0 28.781 * [backup-simplify]: Simplify (- 0) into 0 28.781 * [backup-simplify]: Simplify (+ 0 0) into 0 28.783 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 28.785 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 28.785 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))))))))) in lambda2 28.785 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 28.785 * [taylor]: Taking taylor expansion of 3 in lambda2 28.785 * [backup-simplify]: Simplify 3 into 3 28.785 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 28.785 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 28.785 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) in lambda2 28.785 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.785 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.785 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.785 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.785 * [backup-simplify]: Simplify -0.5 into -0.5 28.786 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.786 * [backup-simplify]: Simplify phi2 into phi2 28.786 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.786 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.786 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.786 * [backup-simplify]: Simplify (- 0) into 0 28.786 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.786 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) in lambda2 28.786 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.786 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.786 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.786 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.786 * [backup-simplify]: Simplify -0.5 into -0.5 28.786 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.786 * [backup-simplify]: Simplify phi1 into phi1 28.786 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.787 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.787 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.787 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.787 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.787 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.787 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) in lambda2 28.787 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.787 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.787 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.787 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.787 * [backup-simplify]: Simplify -0.5 into -0.5 28.787 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.787 * [backup-simplify]: Simplify phi1 into phi1 28.787 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.787 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.787 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.787 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.787 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.787 * [backup-simplify]: Simplify (- 0) into 0 28.788 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.788 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.788 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.788 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.788 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.788 * [backup-simplify]: Simplify -0.5 into -0.5 28.788 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.788 * [backup-simplify]: Simplify phi2 into phi2 28.788 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.788 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.788 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.788 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.788 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.788 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.788 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 28.788 * [taylor]: Taking taylor expansion of R in lambda2 28.788 * [backup-simplify]: Simplify R into R 28.788 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 28.788 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 28.788 * [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 28.788 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.788 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.788 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.788 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.788 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.788 * [backup-simplify]: Simplify -0.5 into -0.5 28.788 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.788 * [backup-simplify]: Simplify phi2 into phi2 28.788 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.788 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.788 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.789 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.789 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.789 * [backup-simplify]: Simplify (- 0) into 0 28.789 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.789 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.789 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.789 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.789 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.789 * [backup-simplify]: Simplify -0.5 into -0.5 28.789 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.789 * [backup-simplify]: Simplify phi1 into phi1 28.789 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.789 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.789 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.789 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.789 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.790 * [backup-simplify]: Simplify (- 0) into 0 28.790 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.790 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.790 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.790 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.790 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.790 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.790 * [backup-simplify]: Simplify -0.5 into -0.5 28.790 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.790 * [backup-simplify]: Simplify phi2 into phi2 28.790 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.790 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.790 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.790 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.790 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.790 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.790 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.790 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.790 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.790 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.790 * [backup-simplify]: Simplify -0.5 into -0.5 28.790 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.790 * [backup-simplify]: Simplify phi1 into phi1 28.790 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.790 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.790 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.790 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.791 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.791 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.791 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 28.791 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.791 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.791 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.791 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.791 * [backup-simplify]: Simplify -0.5 into -0.5 28.791 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.791 * [backup-simplify]: Simplify phi2 into phi2 28.791 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.791 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.791 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.791 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.791 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.791 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.791 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.791 * [backup-simplify]: Simplify -0.5 into -0.5 28.791 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.791 * [backup-simplify]: Simplify phi2 into phi2 28.791 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.791 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.791 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.791 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.791 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.791 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.791 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.791 * [backup-simplify]: Simplify -0.5 into -0.5 28.791 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.791 * [backup-simplify]: Simplify phi1 into phi1 28.791 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.791 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.791 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.791 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.792 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.792 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.792 * [backup-simplify]: Simplify -0.5 into -0.5 28.792 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.792 * [backup-simplify]: Simplify phi1 into phi1 28.792 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.792 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.792 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.792 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.792 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.792 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.792 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.792 * [backup-simplify]: Simplify -0.5 into -0.5 28.792 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.792 * [backup-simplify]: Simplify phi2 into phi2 28.792 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.792 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.792 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.792 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.792 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.792 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.792 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.792 * [backup-simplify]: Simplify -0.5 into -0.5 28.792 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.792 * [backup-simplify]: Simplify phi2 into phi2 28.792 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.792 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.792 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.792 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.792 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.792 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.792 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.792 * [backup-simplify]: Simplify -0.5 into -0.5 28.792 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.792 * [backup-simplify]: Simplify phi1 into phi1 28.792 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.792 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.793 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.793 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.793 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.793 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.793 * [backup-simplify]: Simplify -0.5 into -0.5 28.793 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.793 * [backup-simplify]: Simplify phi1 into phi1 28.793 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.793 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.793 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.793 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 28.793 * [taylor]: Taking taylor expansion of lambda2 in lambda2 28.793 * [backup-simplify]: Simplify 0 into 0 28.793 * [backup-simplify]: Simplify 1 into 1 28.793 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.793 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.793 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.793 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.794 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) 28.794 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2))) 28.794 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)))) into (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)))) 28.794 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.794 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.795 * [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)) 28.795 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.795 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.795 * [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)) 28.795 * [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))) 28.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.796 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.796 * [backup-simplify]: Simplify (- 0) into 0 28.796 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.796 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.796 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.796 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.797 * [backup-simplify]: Simplify (- 0) into 0 28.797 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.797 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.797 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.797 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.797 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.797 * [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)))) 28.797 * [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))))) 28.797 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.797 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.798 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.798 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.798 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.798 * [backup-simplify]: Simplify (- 0) into 0 28.798 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.798 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.798 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.798 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.798 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.798 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.799 * [backup-simplify]: Simplify (- 0) into 0 28.799 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.799 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.799 * [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)))) 28.799 * [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))))) 28.799 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.800 * [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))))))) 28.801 * [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))))))) 28.801 * [backup-simplify]: Simplify (* 1 1) into 1 28.802 * [backup-simplify]: Simplify (* 1 1) into 1 28.803 * [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))))))) 1) 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))))))) 28.804 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 28.806 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R)) into (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 28.807 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 28.807 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 28.807 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 28.807 * [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 28.807 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.807 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.807 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.807 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.807 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.807 * [backup-simplify]: Simplify -0.5 into -0.5 28.807 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.807 * [backup-simplify]: Simplify phi2 into phi2 28.807 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.807 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.807 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.807 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.807 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.814 * [backup-simplify]: Simplify (- 0) into 0 28.814 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.814 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.814 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.814 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.814 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.814 * [backup-simplify]: Simplify -0.5 into -0.5 28.814 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.814 * [backup-simplify]: Simplify phi1 into phi1 28.814 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.814 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.815 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.815 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.815 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.816 * [backup-simplify]: Simplify (- 0) into 0 28.816 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.816 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.816 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.816 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.816 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.816 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.816 * [backup-simplify]: Simplify -0.5 into -0.5 28.816 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.816 * [backup-simplify]: Simplify phi2 into phi2 28.816 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.816 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.816 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.816 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.816 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.817 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.817 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.817 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.817 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.817 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.817 * [backup-simplify]: Simplify -0.5 into -0.5 28.817 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.817 * [backup-simplify]: Simplify phi1 into phi1 28.817 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.817 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.817 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.817 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.817 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.817 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.817 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 28.817 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.817 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.818 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.818 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.818 * [backup-simplify]: Simplify -0.5 into -0.5 28.818 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.818 * [backup-simplify]: Simplify phi2 into phi2 28.818 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.818 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.818 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.818 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.818 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.818 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.818 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.818 * [backup-simplify]: Simplify -0.5 into -0.5 28.818 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.818 * [backup-simplify]: Simplify phi2 into phi2 28.819 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.819 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.819 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.819 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.819 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.819 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.819 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.819 * [backup-simplify]: Simplify -0.5 into -0.5 28.819 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.819 * [backup-simplify]: Simplify phi1 into phi1 28.819 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.819 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.819 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.819 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.819 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.819 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.819 * [backup-simplify]: Simplify -0.5 into -0.5 28.819 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.819 * [backup-simplify]: Simplify phi1 into phi1 28.819 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.820 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.820 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.820 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.820 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.820 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.820 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.820 * [backup-simplify]: Simplify -0.5 into -0.5 28.820 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.820 * [backup-simplify]: Simplify phi2 into phi2 28.820 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.820 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.820 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.820 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.820 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.820 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.820 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.820 * [backup-simplify]: Simplify -0.5 into -0.5 28.820 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.820 * [backup-simplify]: Simplify phi2 into phi2 28.820 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.820 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.820 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.821 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.821 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.821 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.821 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.821 * [backup-simplify]: Simplify -0.5 into -0.5 28.821 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.821 * [backup-simplify]: Simplify phi1 into phi1 28.821 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.821 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.821 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.821 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.821 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.821 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.821 * [backup-simplify]: Simplify -0.5 into -0.5 28.821 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.821 * [backup-simplify]: Simplify phi1 into phi1 28.821 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.821 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.821 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.822 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.822 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.822 * [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)) 28.822 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.822 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.823 * [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)) 28.824 * [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))) 28.824 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.824 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.824 * [backup-simplify]: Simplify (- 0) into 0 28.825 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.825 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.825 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.825 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.825 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.825 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.825 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.825 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.826 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.826 * [backup-simplify]: Simplify (- 0) into 0 28.826 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.826 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.826 * [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)))) 28.827 * [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))))) 28.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.827 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.828 * [backup-simplify]: Simplify (- 0) into 0 28.828 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.828 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.828 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.828 * [backup-simplify]: Simplify (- 0) into 0 28.829 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.829 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.829 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.829 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.829 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.829 * [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)))) 28.830 * [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))))) 28.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.831 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.833 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.835 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 28.837 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.837 * [backup-simplify]: Simplify (+ 0) into 0 28.838 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.838 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.839 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.839 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.840 * [backup-simplify]: Simplify (- 0) into 0 28.840 * [backup-simplify]: Simplify (+ 0 0) into 0 28.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.841 * [backup-simplify]: Simplify (+ 0) into 0 28.841 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.841 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.842 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.843 * [backup-simplify]: Simplify (- 0) into 0 28.843 * [backup-simplify]: Simplify (+ 0 0) into 0 28.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.844 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.844 * [backup-simplify]: Simplify (+ 0) into 0 28.845 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.845 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.846 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.847 * [backup-simplify]: Simplify (+ 0 0) into 0 28.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.847 * [backup-simplify]: Simplify (+ 0) into 0 28.848 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.848 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.849 * [backup-simplify]: Simplify (+ 0 0) into 0 28.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.849 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.850 * [backup-simplify]: Simplify (+ 0 0) into 0 28.850 * [backup-simplify]: Simplify (+ 0) into 0 28.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.850 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.851 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.851 * [backup-simplify]: Simplify (- 0) into 0 28.852 * [backup-simplify]: Simplify (+ 0 0) into 0 28.852 * [backup-simplify]: Simplify (+ 0) into 0 28.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.852 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.853 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.853 * [backup-simplify]: Simplify (+ 0 0) into 0 28.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.854 * [backup-simplify]: Simplify (+ 0) into 0 28.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.854 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.855 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.855 * [backup-simplify]: Simplify (+ 0 0) into 0 28.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.856 * [backup-simplify]: Simplify (+ 0) into 0 28.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.856 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.857 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.857 * [backup-simplify]: Simplify (- 0) into 0 28.858 * [backup-simplify]: Simplify (+ 0 0) into 0 28.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.858 * [backup-simplify]: Simplify (+ 0) into 0 28.858 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.859 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.859 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.859 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.860 * [backup-simplify]: Simplify (+ 0 0) into 0 28.860 * [backup-simplify]: Simplify (+ 0) into 0 28.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.860 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.861 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.861 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.861 * [backup-simplify]: Simplify (- 0) into 0 28.862 * [backup-simplify]: Simplify (+ 0 0) into 0 28.862 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.862 * [backup-simplify]: Simplify (+ 0) into 0 28.862 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.863 * [backup-simplify]: Simplify (- 0) into 0 28.864 * [backup-simplify]: Simplify (+ 0 0) into 0 28.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.864 * [backup-simplify]: Simplify (+ 0) into 0 28.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.865 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.866 * [backup-simplify]: Simplify (+ 0 0) into 0 28.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.867 * [backup-simplify]: Simplify (+ 0 0) into 0 28.868 * [backup-simplify]: Simplify (- 0) into 0 28.868 * [backup-simplify]: Simplify (+ 0 0) into 0 28.872 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 28.874 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 28.874 * [taylor]: Taking taylor expansion of (+ (* 3 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))))) in lambda2 28.875 * [taylor]: Taking taylor expansion of (* 3 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 28.875 * [taylor]: Taking taylor expansion of 3 in lambda2 28.875 * [backup-simplify]: Simplify 3 into 3 28.875 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 28.875 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 28.875 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) in lambda2 28.875 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2 28.875 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.875 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.875 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.875 * [backup-simplify]: Simplify -0.5 into -0.5 28.875 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.875 * [backup-simplify]: Simplify phi1 into phi1 28.875 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.875 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.875 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.876 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.876 * [backup-simplify]: Simplify (- 0) into 0 28.876 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.876 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3))) in lambda2 28.876 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2 28.876 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.876 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.877 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.877 * [backup-simplify]: Simplify -0.5 into -0.5 28.877 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.877 * [backup-simplify]: Simplify phi1 into phi1 28.877 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.877 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.877 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.877 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.877 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.877 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.877 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)) in lambda2 28.877 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2 28.877 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.877 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.877 * [backup-simplify]: Simplify -0.5 into -0.5 28.877 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.877 * [backup-simplify]: Simplify phi2 into phi2 28.877 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.878 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.878 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.878 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2 28.878 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.878 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.878 * [backup-simplify]: Simplify -0.5 into -0.5 28.878 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.878 * [backup-simplify]: Simplify phi2 into phi2 28.878 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.879 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.879 * [backup-simplify]: Simplify (- 0) into 0 28.879 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.879 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 28.879 * [taylor]: Taking taylor expansion of R in lambda2 28.879 * [backup-simplify]: Simplify R into R 28.879 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 28.879 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 28.879 * [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 28.880 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.880 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.880 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.880 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.880 * [backup-simplify]: Simplify -0.5 into -0.5 28.880 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.880 * [backup-simplify]: Simplify phi2 into phi2 28.880 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.880 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.880 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.880 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.881 * [backup-simplify]: Simplify (- 0) into 0 28.881 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.881 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.881 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.881 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.881 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.881 * [backup-simplify]: Simplify -0.5 into -0.5 28.881 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.881 * [backup-simplify]: Simplify phi1 into phi1 28.881 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.881 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.882 * [backup-simplify]: Simplify (- 0) into 0 28.882 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.882 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.882 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.882 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.882 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.882 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.882 * [backup-simplify]: Simplify -0.5 into -0.5 28.882 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.882 * [backup-simplify]: Simplify phi2 into phi2 28.882 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.882 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.882 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.882 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.883 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.883 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.883 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.883 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.883 * [backup-simplify]: Simplify -0.5 into -0.5 28.883 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.883 * [backup-simplify]: Simplify phi1 into phi1 28.883 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.883 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.883 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.883 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 28.883 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.883 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.884 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.884 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.884 * [backup-simplify]: Simplify -0.5 into -0.5 28.884 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.884 * [backup-simplify]: Simplify phi2 into phi2 28.884 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.884 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.884 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.884 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.884 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.884 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.884 * [backup-simplify]: Simplify -0.5 into -0.5 28.884 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.884 * [backup-simplify]: Simplify phi2 into phi2 28.884 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.884 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.884 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.884 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.884 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.884 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.884 * [backup-simplify]: Simplify -0.5 into -0.5 28.885 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.885 * [backup-simplify]: Simplify phi1 into phi1 28.885 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.885 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.885 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.885 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.885 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.885 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.885 * [backup-simplify]: Simplify -0.5 into -0.5 28.885 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.885 * [backup-simplify]: Simplify phi1 into phi1 28.885 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.885 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.885 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.885 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.885 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.885 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.885 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.885 * [backup-simplify]: Simplify -0.5 into -0.5 28.885 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.885 * [backup-simplify]: Simplify phi2 into phi2 28.885 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.886 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.886 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.886 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.886 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.886 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.886 * [backup-simplify]: Simplify -0.5 into -0.5 28.886 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.886 * [backup-simplify]: Simplify phi2 into phi2 28.886 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.886 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.886 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.886 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.886 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.886 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.886 * [backup-simplify]: Simplify -0.5 into -0.5 28.886 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.886 * [backup-simplify]: Simplify phi1 into phi1 28.886 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.886 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.887 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.887 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.887 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.887 * [backup-simplify]: Simplify -0.5 into -0.5 28.887 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.887 * [backup-simplify]: Simplify phi1 into phi1 28.887 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.887 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.887 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 28.887 * [taylor]: Taking taylor expansion of lambda2 in lambda2 28.887 * [backup-simplify]: Simplify 0 into 0 28.887 * [backup-simplify]: Simplify 1 into 1 28.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.888 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 28.888 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.888 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3) 28.888 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.888 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3) 28.889 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.889 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 28.889 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)) into (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)) 28.890 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3))) 28.890 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) into (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) 28.890 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.891 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.891 * [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)) 28.891 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.891 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.892 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 28.892 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 28.892 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.893 * [backup-simplify]: Simplify (- 0) into 0 28.893 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.893 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.893 * [backup-simplify]: Simplify (- 0) into 0 28.893 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.894 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.894 * [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)))) 28.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 28.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.894 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.895 * [backup-simplify]: Simplify (- 0) into 0 28.895 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.895 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.895 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.895 * [backup-simplify]: Simplify (- 0) into 0 28.895 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.895 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.896 * [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)))) 28.896 * [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))))) 28.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.897 * [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))))))) 28.898 * [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))))))) 28.898 * [backup-simplify]: Simplify (* 1 1) into 1 28.899 * [backup-simplify]: Simplify (* 1 1) into 1 28.900 * [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))))))) 1) 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))))))) 28.901 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 28.903 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 28.903 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 28.903 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 28.903 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 28.903 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 28.903 * [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 28.903 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.903 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.903 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.903 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.903 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.903 * [backup-simplify]: Simplify -0.5 into -0.5 28.903 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.903 * [backup-simplify]: Simplify phi2 into phi2 28.903 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.903 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.903 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.903 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.904 * [backup-simplify]: Simplify (- 0) into 0 28.904 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.904 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.904 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.904 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.904 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.904 * [backup-simplify]: Simplify -0.5 into -0.5 28.904 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.904 * [backup-simplify]: Simplify phi1 into phi1 28.904 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.904 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.904 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.905 * [backup-simplify]: Simplify (- 0) into 0 28.905 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.905 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.905 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.905 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.905 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.905 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.905 * [backup-simplify]: Simplify -0.5 into -0.5 28.905 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.905 * [backup-simplify]: Simplify phi2 into phi2 28.905 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.905 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.905 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.905 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.905 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.905 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.905 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.905 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.905 * [backup-simplify]: Simplify -0.5 into -0.5 28.905 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.905 * [backup-simplify]: Simplify phi1 into phi1 28.905 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.905 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.905 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.906 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.906 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.906 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.906 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 28.906 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.906 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.906 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.906 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.906 * [backup-simplify]: Simplify -0.5 into -0.5 28.906 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.906 * [backup-simplify]: Simplify phi2 into phi2 28.906 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.906 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.906 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.906 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.906 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.906 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.906 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.906 * [backup-simplify]: Simplify -0.5 into -0.5 28.906 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.906 * [backup-simplify]: Simplify phi2 into phi2 28.906 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.906 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.906 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.906 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.906 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.907 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.907 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.907 * [backup-simplify]: Simplify -0.5 into -0.5 28.907 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.907 * [backup-simplify]: Simplify phi1 into phi1 28.907 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.907 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.907 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.907 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.907 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.907 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.907 * [backup-simplify]: Simplify -0.5 into -0.5 28.907 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.907 * [backup-simplify]: Simplify phi1 into phi1 28.907 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.907 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.907 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.907 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.907 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.907 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.907 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.907 * [backup-simplify]: Simplify -0.5 into -0.5 28.907 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.907 * [backup-simplify]: Simplify phi2 into phi2 28.907 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.907 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.907 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.907 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.907 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.907 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.907 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.907 * [backup-simplify]: Simplify -0.5 into -0.5 28.907 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.907 * [backup-simplify]: Simplify phi2 into phi2 28.907 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.907 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.907 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.908 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.908 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.908 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.908 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.908 * [backup-simplify]: Simplify -0.5 into -0.5 28.908 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.908 * [backup-simplify]: Simplify phi1 into phi1 28.908 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.908 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.908 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.908 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.908 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.908 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.908 * [backup-simplify]: Simplify -0.5 into -0.5 28.908 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.908 * [backup-simplify]: Simplify phi1 into phi1 28.908 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.908 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.908 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.908 * [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)) 28.909 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.909 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.909 * [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)) 28.909 * [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))) 28.909 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.909 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.910 * [backup-simplify]: Simplify (- 0) into 0 28.910 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.910 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.910 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.910 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.910 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.910 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.910 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.910 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.911 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.911 * [backup-simplify]: Simplify (- 0) into 0 28.911 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.911 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.911 * [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)))) 28.911 * [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))))) 28.911 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.911 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.912 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.912 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.912 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.912 * [backup-simplify]: Simplify (- 0) into 0 28.912 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.912 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.912 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.912 * [backup-simplify]: Simplify (- 0) into 0 28.913 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.913 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.913 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.913 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.913 * [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)))) 28.913 * [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))))) 28.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.914 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.915 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 28.917 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 28.919 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 28.922 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.924 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 28.925 * [backup-simplify]: Simplify (+ 0) into 0 28.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.926 * [backup-simplify]: Simplify (- 0) into 0 28.927 * [backup-simplify]: Simplify (+ 0 0) into 0 28.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.927 * [backup-simplify]: Simplify (+ 0) into 0 28.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.927 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.929 * [backup-simplify]: Simplify (- 0) into 0 28.929 * [backup-simplify]: Simplify (+ 0 0) into 0 28.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 28.929 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 28.929 * [backup-simplify]: Simplify (+ 0) into 0 28.930 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.930 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.931 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.931 * [backup-simplify]: Simplify (+ 0 0) into 0 28.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.931 * [backup-simplify]: Simplify (+ 0) into 0 28.932 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.932 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.932 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.933 * [backup-simplify]: Simplify (+ 0 0) into 0 28.933 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 28.933 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 28.934 * [backup-simplify]: Simplify (+ 0 0) into 0 28.934 * [backup-simplify]: Simplify (+ 0) into 0 28.934 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.934 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.935 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.935 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.935 * [backup-simplify]: Simplify (- 0) into 0 28.936 * [backup-simplify]: Simplify (+ 0 0) into 0 28.936 * [backup-simplify]: Simplify (+ 0) into 0 28.936 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.936 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.937 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.937 * [backup-simplify]: Simplify (+ 0 0) into 0 28.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 28.938 * [backup-simplify]: Simplify (+ 0) into 0 28.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.938 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.939 * [backup-simplify]: Simplify (+ 0 0) into 0 28.940 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 28.940 * [backup-simplify]: Simplify (+ 0) into 0 28.940 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.940 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.942 * [backup-simplify]: Simplify (- 0) into 0 28.943 * [backup-simplify]: Simplify (+ 0 0) into 0 28.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 28.943 * [backup-simplify]: Simplify (+ 0) into 0 28.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.944 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.945 * [backup-simplify]: Simplify (+ 0 0) into 0 28.945 * [backup-simplify]: Simplify (+ 0) into 0 28.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 28.946 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 28.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 28.947 * [backup-simplify]: Simplify (- 0) into 0 28.947 * [backup-simplify]: Simplify (+ 0 0) into 0 28.947 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 28.948 * [backup-simplify]: Simplify (+ 0) into 0 28.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.948 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.953 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.953 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.954 * [backup-simplify]: Simplify (- 0) into 0 28.954 * [backup-simplify]: Simplify (+ 0 0) into 0 28.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 28.954 * [backup-simplify]: Simplify (+ 0) into 0 28.955 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 28.955 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 28.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 28.956 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 28.956 * [backup-simplify]: Simplify (+ 0 0) into 0 28.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 28.957 * [backup-simplify]: Simplify (+ 0 0) into 0 28.957 * [backup-simplify]: Simplify (- 0) into 0 28.957 * [backup-simplify]: Simplify (+ 0 0) into 0 28.959 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 28.961 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 28.966 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 28.969 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 28.969 * [taylor]: Taking taylor expansion of (+ (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))))))) in lambda2 28.969 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 28.970 * [taylor]: Taking taylor expansion of 3/2 in lambda2 28.970 * [backup-simplify]: Simplify 3/2 into 3/2 28.970 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 28.970 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 28.970 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) in lambda2 28.970 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 5) in lambda2 28.970 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.970 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.970 * [backup-simplify]: Simplify -0.5 into -0.5 28.970 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.970 * [backup-simplify]: Simplify phi2 into phi2 28.970 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.970 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.971 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.971 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.971 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))) in lambda2 28.971 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.971 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.971 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.971 * [backup-simplify]: Simplify -0.5 into -0.5 28.971 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.971 * [backup-simplify]: Simplify phi2 into phi2 28.971 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.971 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)) in lambda2 28.971 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.971 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.971 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.971 * [backup-simplify]: Simplify -0.5 into -0.5 28.971 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.971 * [backup-simplify]: Simplify phi1 into phi1 28.971 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.972 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 5) in lambda2 28.972 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.972 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.972 * [backup-simplify]: Simplify -0.5 into -0.5 28.972 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.972 * [backup-simplify]: Simplify phi1 into phi1 28.972 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.972 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.972 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.972 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 28.972 * [taylor]: Taking taylor expansion of R in lambda2 28.972 * [backup-simplify]: Simplify R into R 28.972 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 28.973 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 28.973 * [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 28.973 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 28.973 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 28.973 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.973 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.973 * [backup-simplify]: Simplify -0.5 into -0.5 28.973 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.973 * [backup-simplify]: Simplify phi2 into phi2 28.973 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.973 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.974 * [backup-simplify]: Simplify (- 0) into 0 28.974 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.974 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 28.974 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.974 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.974 * [backup-simplify]: Simplify -0.5 into -0.5 28.974 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.974 * [backup-simplify]: Simplify phi1 into phi1 28.974 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.974 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.975 * [backup-simplify]: Simplify (- 0) into 0 28.975 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.975 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 28.975 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 28.975 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.975 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.975 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.975 * [backup-simplify]: Simplify -0.5 into -0.5 28.975 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.975 * [backup-simplify]: Simplify phi2 into phi2 28.975 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.976 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.976 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.976 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.976 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 28.976 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.976 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.976 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.976 * [backup-simplify]: Simplify -0.5 into -0.5 28.976 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.976 * [backup-simplify]: Simplify phi1 into phi1 28.976 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.976 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.976 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.977 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.977 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 28.977 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 28.977 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.977 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.977 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.977 * [backup-simplify]: Simplify -0.5 into -0.5 28.977 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.977 * [backup-simplify]: Simplify phi2 into phi2 28.977 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.977 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.977 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.977 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 28.977 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.977 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.977 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.977 * [backup-simplify]: Simplify -0.5 into -0.5 28.977 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.977 * [backup-simplify]: Simplify phi2 into phi2 28.978 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.978 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.978 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 28.978 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.978 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.978 * [backup-simplify]: Simplify -0.5 into -0.5 28.978 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.978 * [backup-simplify]: Simplify phi1 into phi1 28.978 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.978 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.978 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.978 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.978 * [backup-simplify]: Simplify -0.5 into -0.5 28.978 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.978 * [backup-simplify]: Simplify phi1 into phi1 28.978 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.978 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.979 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 28.979 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 28.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.979 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.979 * [backup-simplify]: Simplify -0.5 into -0.5 28.979 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.979 * [backup-simplify]: Simplify phi2 into phi2 28.979 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.979 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 28.979 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 28.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 28.979 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.979 * [backup-simplify]: Simplify -0.5 into -0.5 28.979 * [taylor]: Taking taylor expansion of phi2 in lambda2 28.979 * [backup-simplify]: Simplify phi2 into phi2 28.979 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 28.979 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 28.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 28.980 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 28.980 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 28.980 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.980 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.980 * [backup-simplify]: Simplify -0.5 into -0.5 28.980 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.980 * [backup-simplify]: Simplify phi1 into phi1 28.980 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.980 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.980 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.980 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 28.980 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 28.980 * [taylor]: Taking taylor expansion of -0.5 in lambda2 28.980 * [backup-simplify]: Simplify -0.5 into -0.5 28.980 * [taylor]: Taking taylor expansion of phi1 in lambda2 28.980 * [backup-simplify]: Simplify phi1 into phi1 28.980 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 28.980 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 28.980 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 28.980 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 28.980 * [taylor]: Taking taylor expansion of lambda2 in lambda2 28.980 * [backup-simplify]: Simplify 0 into 0 28.981 * [backup-simplify]: Simplify 1 into 1 28.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.981 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4) 28.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 4)) into (pow (sin (/ -0.5 phi2)) 5) 28.981 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.982 * [backup-simplify]: Simplify (- 0) into 0 28.983 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.983 * [backup-simplify]: Simplify (- 0) into 0 28.983 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.984 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.984 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4) 28.984 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 4)) into (pow (sin (/ -0.5 phi1)) 5) 28.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)) into (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)) 28.985 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))) into (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 28.985 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 5) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (pow (sin (/ -0.5 phi1)) 5) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 28.986 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 28.986 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 28.986 * [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)) 28.986 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 28.986 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 28.987 * [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)) 28.987 * [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))) 28.988 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.988 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.988 * [backup-simplify]: Simplify (- 0) into 0 28.988 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.988 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.988 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.989 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.989 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.989 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.989 * [backup-simplify]: Simplify (- 0) into 0 28.989 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.989 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.990 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.990 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.990 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 28.990 * [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)))) 28.990 * [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))))) 28.990 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 28.991 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 28.991 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 28.991 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 28.991 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 28.991 * [backup-simplify]: Simplify (- 0) into 0 28.991 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 28.991 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 28.992 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 28.992 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 28.992 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 28.992 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 28.992 * [backup-simplify]: Simplify (- 0) into 0 28.992 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 28.992 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 28.993 * [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)))) 28.993 * [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))))) 28.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 28.994 * [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))))))) 28.996 * [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))))))) 28.996 * [backup-simplify]: Simplify (* 1 1) into 1 28.996 * [backup-simplify]: Simplify (* 1 1) into 1 28.998 * [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))))))) 1) 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))))))) 29.000 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 29.002 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi1)) 5) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R)) into (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 29.002 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 29.002 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 29.002 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 29.003 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 29.003 * [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 29.003 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.003 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.003 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.003 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.003 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.003 * [backup-simplify]: Simplify -0.5 into -0.5 29.003 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.003 * [backup-simplify]: Simplify phi2 into phi2 29.003 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.003 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.003 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.003 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.003 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.004 * [backup-simplify]: Simplify (- 0) into 0 29.004 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.004 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.004 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.004 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.004 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.004 * [backup-simplify]: Simplify -0.5 into -0.5 29.004 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.004 * [backup-simplify]: Simplify phi1 into phi1 29.004 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.004 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.004 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.005 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.005 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.005 * [backup-simplify]: Simplify (- 0) into 0 29.005 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.005 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.005 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.005 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.005 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.005 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.005 * [backup-simplify]: Simplify -0.5 into -0.5 29.005 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.005 * [backup-simplify]: Simplify phi2 into phi2 29.005 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.006 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.006 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.006 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.006 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.006 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.006 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.006 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.006 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.006 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.006 * [backup-simplify]: Simplify -0.5 into -0.5 29.006 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.006 * [backup-simplify]: Simplify phi1 into phi1 29.006 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.007 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.007 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.007 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.007 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.007 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.007 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 29.007 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.007 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.007 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.007 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.007 * [backup-simplify]: Simplify -0.5 into -0.5 29.007 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.007 * [backup-simplify]: Simplify phi2 into phi2 29.007 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.008 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.008 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.008 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.008 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.008 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.008 * [backup-simplify]: Simplify -0.5 into -0.5 29.008 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.008 * [backup-simplify]: Simplify phi2 into phi2 29.008 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.008 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.008 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.008 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.008 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.008 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.008 * [backup-simplify]: Simplify -0.5 into -0.5 29.008 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.008 * [backup-simplify]: Simplify phi1 into phi1 29.008 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.008 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.009 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.009 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.009 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.009 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.009 * [backup-simplify]: Simplify -0.5 into -0.5 29.009 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.009 * [backup-simplify]: Simplify phi1 into phi1 29.009 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.009 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.009 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.009 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.009 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.009 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.009 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.009 * [backup-simplify]: Simplify -0.5 into -0.5 29.009 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.009 * [backup-simplify]: Simplify phi2 into phi2 29.009 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.009 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.009 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.009 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.009 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.010 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.010 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.010 * [backup-simplify]: Simplify -0.5 into -0.5 29.010 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.010 * [backup-simplify]: Simplify phi2 into phi2 29.010 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.010 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.010 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.010 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.010 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.010 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.010 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.010 * [backup-simplify]: Simplify -0.5 into -0.5 29.010 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.010 * [backup-simplify]: Simplify phi1 into phi1 29.010 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.010 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.010 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.010 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.010 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.010 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.010 * [backup-simplify]: Simplify -0.5 into -0.5 29.010 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.011 * [backup-simplify]: Simplify phi1 into phi1 29.011 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.011 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.011 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.011 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.011 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.011 * [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)) 29.012 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.012 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.012 * [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)) 29.013 * [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))) 29.013 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.014 * [backup-simplify]: Simplify (- 0) into 0 29.014 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.014 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.014 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.014 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.014 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.014 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.014 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.015 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.015 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.015 * [backup-simplify]: Simplify (- 0) into 0 29.015 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.015 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.016 * [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)))) 29.016 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 29.016 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.016 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.016 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.016 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.016 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.017 * [backup-simplify]: Simplify (- 0) into 0 29.017 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.017 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.017 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.018 * [backup-simplify]: Simplify (- 0) into 0 29.018 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.018 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.018 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.018 * [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)))) 29.019 * [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))))) 29.019 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.020 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.022 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.026 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 29.029 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 29.033 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.037 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.038 * [backup-simplify]: Simplify (+ 0) into 0 29.038 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.038 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.039 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.039 * [backup-simplify]: Simplify (- 0) into 0 29.040 * [backup-simplify]: Simplify (+ 0 0) into 0 29.040 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.040 * [backup-simplify]: Simplify (+ 0) into 0 29.040 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.041 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.042 * [backup-simplify]: Simplify (- 0) into 0 29.042 * [backup-simplify]: Simplify (+ 0 0) into 0 29.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.042 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.042 * [backup-simplify]: Simplify (+ 0) into 0 29.043 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.043 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.044 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.044 * [backup-simplify]: Simplify (+ 0 0) into 0 29.044 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.044 * [backup-simplify]: Simplify (+ 0) into 0 29.045 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.045 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.045 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.046 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.046 * [backup-simplify]: Simplify (+ 0 0) into 0 29.046 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.046 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.047 * [backup-simplify]: Simplify (+ 0 0) into 0 29.047 * [backup-simplify]: Simplify (+ 0) into 0 29.047 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.047 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.048 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.048 * [backup-simplify]: Simplify (- 0) into 0 29.049 * [backup-simplify]: Simplify (+ 0 0) into 0 29.049 * [backup-simplify]: Simplify (+ 0) into 0 29.049 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.049 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.050 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.050 * [backup-simplify]: Simplify (+ 0 0) into 0 29.050 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.051 * [backup-simplify]: Simplify (+ 0) into 0 29.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.051 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.052 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.052 * [backup-simplify]: Simplify (+ 0 0) into 0 29.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.053 * [backup-simplify]: Simplify (+ 0) into 0 29.053 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.054 * [backup-simplify]: Simplify (- 0) into 0 29.054 * [backup-simplify]: Simplify (+ 0 0) into 0 29.055 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.055 * [backup-simplify]: Simplify (+ 0) into 0 29.055 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.055 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.056 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.056 * [backup-simplify]: Simplify (+ 0 0) into 0 29.057 * [backup-simplify]: Simplify (+ 0) into 0 29.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.057 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.058 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.058 * [backup-simplify]: Simplify (- 0) into 0 29.059 * [backup-simplify]: Simplify (+ 0 0) into 0 29.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.059 * [backup-simplify]: Simplify (+ 0) into 0 29.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.059 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.060 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.060 * [backup-simplify]: Simplify (- 0) into 0 29.061 * [backup-simplify]: Simplify (+ 0 0) into 0 29.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.061 * [backup-simplify]: Simplify (+ 0) into 0 29.061 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.062 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.062 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.063 * [backup-simplify]: Simplify (+ 0 0) into 0 29.063 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.063 * [backup-simplify]: Simplify (+ 0 0) into 0 29.063 * [backup-simplify]: Simplify (- 0) into 0 29.064 * [backup-simplify]: Simplify (+ 0 0) into 0 29.067 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 29.071 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 29.079 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 29.082 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 29.082 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))))) in lambda2 29.082 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 29.082 * [taylor]: Taking taylor expansion of 1/2 in lambda2 29.082 * [backup-simplify]: Simplify 1/2 into 1/2 29.082 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 29.082 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 29.082 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) in lambda2 29.082 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 5) in lambda2 29.083 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.083 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.083 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.083 * [backup-simplify]: Simplify -0.5 into -0.5 29.083 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.083 * [backup-simplify]: Simplify phi1 into phi1 29.083 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.083 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.083 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.083 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.083 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.083 * [backup-simplify]: Simplify (- 0) into 0 29.083 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.083 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5))) in lambda2 29.083 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.083 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.083 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.084 * [backup-simplify]: Simplify -0.5 into -0.5 29.084 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.084 * [backup-simplify]: Simplify phi2 into phi2 29.084 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.084 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.084 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.084 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)) in lambda2 29.084 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.084 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.084 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.084 * [backup-simplify]: Simplify -0.5 into -0.5 29.084 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.084 * [backup-simplify]: Simplify phi1 into phi1 29.084 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.084 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.084 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.084 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 5) in lambda2 29.084 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.084 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.084 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.084 * [backup-simplify]: Simplify -0.5 into -0.5 29.084 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.084 * [backup-simplify]: Simplify phi2 into phi2 29.084 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.084 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.084 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.084 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.084 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.085 * [backup-simplify]: Simplify (- 0) into 0 29.085 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.085 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 29.085 * [taylor]: Taking taylor expansion of R in lambda2 29.085 * [backup-simplify]: Simplify R into R 29.085 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 29.085 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 29.085 * [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 29.085 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.085 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.085 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.085 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.085 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.085 * [backup-simplify]: Simplify -0.5 into -0.5 29.085 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.085 * [backup-simplify]: Simplify phi2 into phi2 29.085 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.085 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.085 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.085 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.085 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.086 * [backup-simplify]: Simplify (- 0) into 0 29.086 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.086 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.086 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.086 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.086 * [backup-simplify]: Simplify -0.5 into -0.5 29.086 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.086 * [backup-simplify]: Simplify phi1 into phi1 29.086 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.086 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.086 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.086 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.086 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.086 * [backup-simplify]: Simplify (- 0) into 0 29.086 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.086 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.086 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.086 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.086 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.086 * [backup-simplify]: Simplify -0.5 into -0.5 29.086 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.086 * [backup-simplify]: Simplify phi2 into phi2 29.087 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.087 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.087 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.087 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.087 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.087 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.087 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.087 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.087 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.087 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.087 * [backup-simplify]: Simplify -0.5 into -0.5 29.087 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.087 * [backup-simplify]: Simplify phi1 into phi1 29.087 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.087 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.087 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.087 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.087 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.087 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.087 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 29.087 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.088 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.088 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.088 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.088 * [backup-simplify]: Simplify -0.5 into -0.5 29.088 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.088 * [backup-simplify]: Simplify phi2 into phi2 29.088 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.088 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.088 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.088 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.088 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.088 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.088 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.088 * [backup-simplify]: Simplify -0.5 into -0.5 29.088 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.088 * [backup-simplify]: Simplify phi2 into phi2 29.088 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.088 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.088 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.088 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.088 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.088 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.089 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.089 * [backup-simplify]: Simplify -0.5 into -0.5 29.089 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.089 * [backup-simplify]: Simplify phi1 into phi1 29.089 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.089 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.089 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.089 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.089 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.089 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.089 * [backup-simplify]: Simplify -0.5 into -0.5 29.089 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.089 * [backup-simplify]: Simplify phi1 into phi1 29.089 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.089 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.089 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.089 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.089 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.089 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.089 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.089 * [backup-simplify]: Simplify -0.5 into -0.5 29.089 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.089 * [backup-simplify]: Simplify phi2 into phi2 29.090 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.090 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.090 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.090 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.090 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.090 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.090 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.090 * [backup-simplify]: Simplify -0.5 into -0.5 29.090 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.090 * [backup-simplify]: Simplify phi2 into phi2 29.090 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.090 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.090 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.090 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.090 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.090 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.090 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.090 * [backup-simplify]: Simplify -0.5 into -0.5 29.090 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.090 * [backup-simplify]: Simplify phi1 into phi1 29.090 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.091 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.091 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.091 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.091 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.091 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.091 * [backup-simplify]: Simplify -0.5 into -0.5 29.091 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.091 * [backup-simplify]: Simplify phi1 into phi1 29.091 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.091 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.091 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.091 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 29.091 * [taylor]: Taking taylor expansion of lambda2 in lambda2 29.091 * [backup-simplify]: Simplify 0 into 0 29.091 * [backup-simplify]: Simplify 1 into 1 29.091 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.092 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4) 29.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 4)) into (pow (cos (/ -0.5 phi1)) 5) 29.092 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.092 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.092 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.092 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.093 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4) 29.093 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 4)) into (pow (cos (/ -0.5 phi2)) 5) 29.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)) into (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)) 29.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5))) into (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 29.093 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 5) (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 29.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.094 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 29.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.094 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 29.095 * [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))) 29.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.099 * [backup-simplify]: Simplify (- 0) into 0 29.100 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.100 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.100 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.100 * [backup-simplify]: Simplify (- 0) into 0 29.101 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.101 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.101 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.101 * [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)))) 29.101 * [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))))) 29.101 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.101 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.102 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.102 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.102 * [backup-simplify]: Simplify (- 0) into 0 29.102 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.102 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.102 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.102 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.102 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.102 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.102 * [backup-simplify]: Simplify (- 0) into 0 29.103 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.103 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.103 * [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)))) 29.103 * [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))))) 29.104 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.104 * [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))))))) 29.105 * [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))))))) 29.106 * [backup-simplify]: Simplify (* 1 1) into 1 29.106 * [backup-simplify]: Simplify (* 1 1) into 1 29.107 * [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))))))) 1) 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))))))) 29.108 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 29.110 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 29.110 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 29.110 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 29.110 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 29.110 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 29.110 * [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 29.110 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.110 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.110 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.110 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.110 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.110 * [backup-simplify]: Simplify -0.5 into -0.5 29.110 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.110 * [backup-simplify]: Simplify phi2 into phi2 29.110 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.110 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.110 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.110 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.110 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.111 * [backup-simplify]: Simplify (- 0) into 0 29.111 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.111 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.111 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.111 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.111 * [backup-simplify]: Simplify -0.5 into -0.5 29.111 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.111 * [backup-simplify]: Simplify phi1 into phi1 29.111 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.111 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.111 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.111 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.111 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.111 * [backup-simplify]: Simplify (- 0) into 0 29.112 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.112 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.112 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.112 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.112 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.112 * [backup-simplify]: Simplify -0.5 into -0.5 29.112 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.112 * [backup-simplify]: Simplify phi2 into phi2 29.112 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.112 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.112 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.112 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.112 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.112 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.112 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.112 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.112 * [backup-simplify]: Simplify -0.5 into -0.5 29.112 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.112 * [backup-simplify]: Simplify phi1 into phi1 29.112 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.112 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.112 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.112 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.112 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.113 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 29.113 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.113 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.113 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.113 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.113 * [backup-simplify]: Simplify -0.5 into -0.5 29.113 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.113 * [backup-simplify]: Simplify phi2 into phi2 29.113 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.113 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.113 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.113 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.113 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.113 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.113 * [backup-simplify]: Simplify -0.5 into -0.5 29.113 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.113 * [backup-simplify]: Simplify phi2 into phi2 29.113 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.113 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.113 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.113 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.113 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.113 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.113 * [backup-simplify]: Simplify -0.5 into -0.5 29.113 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.113 * [backup-simplify]: Simplify phi1 into phi1 29.113 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.113 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.113 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.113 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.113 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.113 * [backup-simplify]: Simplify -0.5 into -0.5 29.113 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.113 * [backup-simplify]: Simplify phi1 into phi1 29.113 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.114 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.114 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.114 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.114 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.114 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.114 * [backup-simplify]: Simplify -0.5 into -0.5 29.114 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.114 * [backup-simplify]: Simplify phi2 into phi2 29.114 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.114 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.114 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.114 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.114 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.114 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.114 * [backup-simplify]: Simplify -0.5 into -0.5 29.114 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.114 * [backup-simplify]: Simplify phi2 into phi2 29.114 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.114 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.114 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.114 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.114 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.114 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.114 * [backup-simplify]: Simplify -0.5 into -0.5 29.114 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.114 * [backup-simplify]: Simplify phi1 into phi1 29.114 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.114 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.114 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.114 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.114 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.114 * [backup-simplify]: Simplify -0.5 into -0.5 29.114 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.114 * [backup-simplify]: Simplify phi1 into phi1 29.115 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.115 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.115 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.115 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.115 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.115 * [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)) 29.115 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.115 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.115 * [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)) 29.116 * [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))) 29.116 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.116 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.116 * [backup-simplify]: Simplify (- 0) into 0 29.117 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.117 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.117 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.117 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.117 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.117 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.117 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.117 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.117 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.117 * [backup-simplify]: Simplify (- 0) into 0 29.117 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.118 * [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)))) 29.118 * [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))))) 29.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.118 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.118 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.118 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.119 * [backup-simplify]: Simplify (- 0) into 0 29.119 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.119 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.119 * [backup-simplify]: Simplify (- 0) into 0 29.119 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.119 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.119 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.120 * [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)))) 29.120 * [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))))) 29.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.121 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.122 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.124 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 29.126 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 29.129 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.131 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.132 * [backup-simplify]: Simplify (+ 0) into 0 29.132 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.132 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.134 * [backup-simplify]: Simplify (- 0) into 0 29.134 * [backup-simplify]: Simplify (+ 0 0) into 0 29.134 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.135 * [backup-simplify]: Simplify (+ 0) into 0 29.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.136 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.137 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.137 * [backup-simplify]: Simplify (- 0) into 0 29.138 * [backup-simplify]: Simplify (+ 0 0) into 0 29.138 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.138 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.139 * [backup-simplify]: Simplify (+ 0) into 0 29.139 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.139 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.141 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.141 * [backup-simplify]: Simplify (+ 0 0) into 0 29.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.142 * [backup-simplify]: Simplify (+ 0) into 0 29.142 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.142 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.143 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.144 * [backup-simplify]: Simplify (+ 0 0) into 0 29.144 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.144 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.145 * [backup-simplify]: Simplify (+ 0 0) into 0 29.145 * [backup-simplify]: Simplify (+ 0) into 0 29.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.146 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.148 * [backup-simplify]: Simplify (- 0) into 0 29.148 * [backup-simplify]: Simplify (+ 0 0) into 0 29.148 * [backup-simplify]: Simplify (+ 0) into 0 29.149 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.149 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.152 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.152 * [backup-simplify]: Simplify (+ 0 0) into 0 29.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.153 * [backup-simplify]: Simplify (+ 0) into 0 29.153 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.153 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.154 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.155 * [backup-simplify]: Simplify (+ 0 0) into 0 29.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.156 * [backup-simplify]: Simplify (+ 0) into 0 29.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.157 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.158 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.159 * [backup-simplify]: Simplify (- 0) into 0 29.159 * [backup-simplify]: Simplify (+ 0 0) into 0 29.159 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.160 * [backup-simplify]: Simplify (+ 0) into 0 29.160 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.161 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.162 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.162 * [backup-simplify]: Simplify (+ 0 0) into 0 29.162 * [backup-simplify]: Simplify (+ 0) into 0 29.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.163 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.164 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.165 * [backup-simplify]: Simplify (- 0) into 0 29.165 * [backup-simplify]: Simplify (+ 0 0) into 0 29.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.166 * [backup-simplify]: Simplify (+ 0) into 0 29.166 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.168 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.168 * [backup-simplify]: Simplify (- 0) into 0 29.168 * [backup-simplify]: Simplify (+ 0 0) into 0 29.169 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.169 * [backup-simplify]: Simplify (+ 0) into 0 29.169 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.170 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.171 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.171 * [backup-simplify]: Simplify (+ 0 0) into 0 29.172 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.172 * [backup-simplify]: Simplify (+ 0 0) into 0 29.172 * [backup-simplify]: Simplify (- 0) into 0 29.173 * [backup-simplify]: Simplify (+ 0 0) into 0 29.177 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 29.180 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 29.189 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 29.193 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 29.193 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))))) in lambda2 29.194 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 29.194 * [taylor]: Taking taylor expansion of 1/2 in lambda2 29.194 * [backup-simplify]: Simplify 1/2 into 1/2 29.194 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 29.194 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 29.194 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.194 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.194 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.194 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.194 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.194 * [backup-simplify]: Simplify -0.5 into -0.5 29.194 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.194 * [backup-simplify]: Simplify phi2 into phi2 29.194 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.195 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.195 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.195 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.195 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.195 * [backup-simplify]: Simplify (- 0) into 0 29.196 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.196 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.196 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.196 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.196 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.196 * [backup-simplify]: Simplify -0.5 into -0.5 29.196 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.196 * [backup-simplify]: Simplify phi1 into phi1 29.196 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.196 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.196 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.196 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.196 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.197 * [backup-simplify]: Simplify (- 0) into 0 29.197 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.197 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 29.197 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 29.197 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.197 * [backup-simplify]: Simplify phi2 into phi2 29.197 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 29.197 * [taylor]: Taking taylor expansion of R in lambda2 29.197 * [backup-simplify]: Simplify R into R 29.197 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 29.197 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 29.197 * [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 29.197 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.197 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.197 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.197 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.197 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.197 * [backup-simplify]: Simplify -0.5 into -0.5 29.197 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.197 * [backup-simplify]: Simplify phi2 into phi2 29.197 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.198 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.198 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.198 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.198 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.198 * [backup-simplify]: Simplify (- 0) into 0 29.198 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.198 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.198 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.198 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.198 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.199 * [backup-simplify]: Simplify -0.5 into -0.5 29.199 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.199 * [backup-simplify]: Simplify phi1 into phi1 29.199 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.199 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.199 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.199 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.199 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.199 * [backup-simplify]: Simplify (- 0) into 0 29.199 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.200 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.200 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.200 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.200 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.200 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.200 * [backup-simplify]: Simplify -0.5 into -0.5 29.200 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.200 * [backup-simplify]: Simplify phi2 into phi2 29.200 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.200 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.200 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.200 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.200 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.200 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.200 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.200 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.200 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.200 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.200 * [backup-simplify]: Simplify -0.5 into -0.5 29.200 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.200 * [backup-simplify]: Simplify phi1 into phi1 29.200 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.200 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.200 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.201 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.201 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.201 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.201 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 29.201 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.201 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.201 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.201 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.201 * [backup-simplify]: Simplify -0.5 into -0.5 29.201 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.201 * [backup-simplify]: Simplify phi2 into phi2 29.201 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.201 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.201 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.201 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.201 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.201 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.201 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.201 * [backup-simplify]: Simplify -0.5 into -0.5 29.201 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.201 * [backup-simplify]: Simplify phi2 into phi2 29.201 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.201 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.201 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.201 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.201 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.201 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.201 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.201 * [backup-simplify]: Simplify -0.5 into -0.5 29.201 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.201 * [backup-simplify]: Simplify phi1 into phi1 29.201 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.201 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.201 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.201 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.202 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.202 * [backup-simplify]: Simplify -0.5 into -0.5 29.202 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.202 * [backup-simplify]: Simplify phi1 into phi1 29.202 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.202 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.202 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.202 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.202 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.202 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.202 * [backup-simplify]: Simplify -0.5 into -0.5 29.202 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.202 * [backup-simplify]: Simplify phi2 into phi2 29.202 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.202 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.202 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.202 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.202 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.202 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.202 * [backup-simplify]: Simplify -0.5 into -0.5 29.202 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.202 * [backup-simplify]: Simplify phi2 into phi2 29.202 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.202 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.202 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.202 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.202 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.202 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.202 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.202 * [backup-simplify]: Simplify -0.5 into -0.5 29.202 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.202 * [backup-simplify]: Simplify phi1 into phi1 29.202 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.202 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.203 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.203 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.203 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.203 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.203 * [backup-simplify]: Simplify -0.5 into -0.5 29.203 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.203 * [backup-simplify]: Simplify phi1 into phi1 29.203 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.203 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.203 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.203 * [taylor]: Taking taylor expansion of lambda2 in lambda2 29.203 * [backup-simplify]: Simplify 0 into 0 29.203 * [backup-simplify]: Simplify 1 into 1 29.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.203 * [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)) 29.203 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 29.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.204 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.204 * [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)) 29.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.204 * [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)) 29.205 * [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))) 29.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.205 * [backup-simplify]: Simplify (- 0) into 0 29.205 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.205 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.205 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.205 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.206 * [backup-simplify]: Simplify (- 0) into 0 29.206 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.206 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.206 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.206 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.206 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.206 * [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)))) 29.206 * [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))))) 29.206 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.207 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.207 * [backup-simplify]: Simplify (- 0) into 0 29.207 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.207 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.208 * [backup-simplify]: Simplify (- 0) into 0 29.208 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.208 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.208 * [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)))) 29.208 * [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))))) 29.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.209 * [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))))))) 29.210 * [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))))))) 29.211 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 29.211 * [backup-simplify]: Simplify (* R 0) into 0 29.211 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 29.212 * [backup-simplify]: Simplify (+ 0) into 0 29.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.212 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.213 * [backup-simplify]: Simplify (- 0) into 0 29.213 * [backup-simplify]: Simplify (+ 0 0) into 0 29.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.214 * [backup-simplify]: Simplify (+ 0) into 0 29.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.214 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.215 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.215 * [backup-simplify]: Simplify (- 0) into 0 29.216 * [backup-simplify]: Simplify (+ 0 0) into 0 29.216 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.216 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.216 * [backup-simplify]: Simplify (+ 0) into 0 29.217 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.217 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.218 * [backup-simplify]: Simplify (+ 0 0) into 0 29.218 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.218 * [backup-simplify]: Simplify (+ 0) into 0 29.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.219 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.220 * [backup-simplify]: Simplify (+ 0 0) into 0 29.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.220 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.220 * [backup-simplify]: Simplify (+ 0 0) into 0 29.221 * [backup-simplify]: Simplify (+ 0) into 0 29.221 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.221 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.222 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.222 * [backup-simplify]: Simplify (+ 0 0) into 0 29.222 * [backup-simplify]: Simplify (+ 0) into 0 29.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.223 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.224 * [backup-simplify]: Simplify (- 0) into 0 29.224 * [backup-simplify]: Simplify (+ 0 0) into 0 29.224 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.225 * [backup-simplify]: Simplify (+ 0) into 0 29.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.225 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.226 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.226 * [backup-simplify]: Simplify (+ 0 0) into 0 29.226 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.227 * [backup-simplify]: Simplify (+ 0) into 0 29.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.227 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.227 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.228 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.228 * [backup-simplify]: Simplify (- 0) into 0 29.228 * [backup-simplify]: Simplify (+ 0 0) into 0 29.228 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.229 * [backup-simplify]: Simplify (+ 0) into 0 29.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.229 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.230 * [backup-simplify]: Simplify (- 0) into 0 29.235 * [backup-simplify]: Simplify (+ 0 0) into 0 29.235 * [backup-simplify]: Simplify (+ 0) into 0 29.236 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.236 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.237 * [backup-simplify]: Simplify (+ 0 0) into 0 29.237 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.237 * [backup-simplify]: Simplify (+ 0) into 0 29.238 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.238 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.238 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.239 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.239 * [backup-simplify]: Simplify (- 0) into 0 29.239 * [backup-simplify]: Simplify (+ 0 0) into 0 29.239 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.240 * [backup-simplify]: Simplify (+ 0) into 0 29.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.240 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.241 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.241 * [backup-simplify]: Simplify (+ 0 0) into 0 29.241 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.242 * [backup-simplify]: Simplify (+ 0 0) into 0 29.242 * [backup-simplify]: Simplify (- 0) into 0 29.242 * [backup-simplify]: Simplify (+ 0 0) into 0 29.244 * [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))))))) 1) (* 0 0)) 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))))))) 29.245 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 29.245 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 29.247 * [backup-simplify]: Simplify (+ (* (pow phi2 2) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) 29.249 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) 29.249 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 29.249 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 29.249 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 29.249 * [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 29.249 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.249 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.249 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.249 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.249 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.249 * [backup-simplify]: Simplify -0.5 into -0.5 29.250 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.250 * [backup-simplify]: Simplify phi2 into phi2 29.250 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.250 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.250 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.250 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.250 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.250 * [backup-simplify]: Simplify (- 0) into 0 29.250 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.250 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.250 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.250 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.250 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.250 * [backup-simplify]: Simplify -0.5 into -0.5 29.250 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.250 * [backup-simplify]: Simplify phi1 into phi1 29.250 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.250 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.250 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.251 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.251 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.251 * [backup-simplify]: Simplify (- 0) into 0 29.251 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.251 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.251 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.251 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.251 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.251 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.251 * [backup-simplify]: Simplify -0.5 into -0.5 29.251 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.251 * [backup-simplify]: Simplify phi2 into phi2 29.251 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.251 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.251 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.251 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.251 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.251 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.251 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.251 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.252 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.252 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.252 * [backup-simplify]: Simplify -0.5 into -0.5 29.252 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.252 * [backup-simplify]: Simplify phi1 into phi1 29.252 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.252 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.252 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.252 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.252 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.252 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.252 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 29.252 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.252 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.252 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.252 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.252 * [backup-simplify]: Simplify -0.5 into -0.5 29.252 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.252 * [backup-simplify]: Simplify phi2 into phi2 29.252 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.252 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.252 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.252 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.252 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.252 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.252 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.252 * [backup-simplify]: Simplify -0.5 into -0.5 29.252 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.252 * [backup-simplify]: Simplify phi2 into phi2 29.252 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.252 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.252 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.253 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.253 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.253 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.253 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.253 * [backup-simplify]: Simplify -0.5 into -0.5 29.253 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.253 * [backup-simplify]: Simplify phi1 into phi1 29.253 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.253 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.253 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.253 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.253 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.253 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.253 * [backup-simplify]: Simplify -0.5 into -0.5 29.253 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.253 * [backup-simplify]: Simplify phi1 into phi1 29.253 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.253 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.253 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.253 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.253 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.253 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.253 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.253 * [backup-simplify]: Simplify -0.5 into -0.5 29.253 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.253 * [backup-simplify]: Simplify phi2 into phi2 29.253 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.253 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.253 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.253 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.253 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.253 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.253 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.253 * [backup-simplify]: Simplify -0.5 into -0.5 29.253 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.253 * [backup-simplify]: Simplify phi2 into phi2 29.253 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.254 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.254 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.254 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.254 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.254 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.254 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.254 * [backup-simplify]: Simplify -0.5 into -0.5 29.254 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.254 * [backup-simplify]: Simplify phi1 into phi1 29.254 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.254 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.254 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.254 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.254 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.254 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.254 * [backup-simplify]: Simplify -0.5 into -0.5 29.254 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.254 * [backup-simplify]: Simplify phi1 into phi1 29.254 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.254 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.254 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.255 * [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)) 29.255 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.255 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.255 * [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)) 29.255 * [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))) 29.255 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.256 * [backup-simplify]: Simplify (- 0) into 0 29.256 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.256 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.256 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.257 * [backup-simplify]: Simplify (- 0) into 0 29.257 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.257 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.257 * [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)))) 29.257 * [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))))) 29.257 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.257 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.257 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.257 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.258 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.258 * [backup-simplify]: Simplify (- 0) into 0 29.258 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.258 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.258 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.258 * [backup-simplify]: Simplify (- 0) into 0 29.258 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.258 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.258 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.259 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.259 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.259 * [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)))) 29.259 * [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))))) 29.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.260 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.261 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.262 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 29.263 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.263 * [backup-simplify]: Simplify (+ 0) into 0 29.264 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.264 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.264 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.265 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.265 * [backup-simplify]: Simplify (- 0) into 0 29.265 * [backup-simplify]: Simplify (+ 0 0) into 0 29.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.266 * [backup-simplify]: Simplify (+ 0) into 0 29.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.266 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.267 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.267 * [backup-simplify]: Simplify (- 0) into 0 29.267 * [backup-simplify]: Simplify (+ 0 0) into 0 29.267 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.268 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.268 * [backup-simplify]: Simplify (+ 0) into 0 29.269 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.269 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.270 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.270 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.271 * [backup-simplify]: Simplify (+ 0 0) into 0 29.271 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.271 * [backup-simplify]: Simplify (+ 0) into 0 29.272 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.272 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.273 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.274 * [backup-simplify]: Simplify (+ 0 0) into 0 29.274 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.274 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.275 * [backup-simplify]: Simplify (+ 0 0) into 0 29.275 * [backup-simplify]: Simplify (+ 0) into 0 29.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.276 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.277 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.277 * [backup-simplify]: Simplify (- 0) into 0 29.278 * [backup-simplify]: Simplify (+ 0 0) into 0 29.278 * [backup-simplify]: Simplify (+ 0) into 0 29.279 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.279 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.280 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.280 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.280 * [backup-simplify]: Simplify (+ 0 0) into 0 29.281 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.281 * [backup-simplify]: Simplify (+ 0) into 0 29.281 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.282 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.283 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.283 * [backup-simplify]: Simplify (+ 0 0) into 0 29.284 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.284 * [backup-simplify]: Simplify (+ 0) into 0 29.284 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.285 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.285 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.286 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.286 * [backup-simplify]: Simplify (- 0) into 0 29.287 * [backup-simplify]: Simplify (+ 0 0) into 0 29.287 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.287 * [backup-simplify]: Simplify (+ 0) into 0 29.288 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.288 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.289 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.289 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.290 * [backup-simplify]: Simplify (+ 0 0) into 0 29.290 * [backup-simplify]: Simplify (+ 0) into 0 29.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.291 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.292 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.292 * [backup-simplify]: Simplify (- 0) into 0 29.293 * [backup-simplify]: Simplify (+ 0 0) into 0 29.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.293 * [backup-simplify]: Simplify (+ 0) into 0 29.294 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.294 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.295 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.296 * [backup-simplify]: Simplify (- 0) into 0 29.296 * [backup-simplify]: Simplify (+ 0 0) into 0 29.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.297 * [backup-simplify]: Simplify (+ 0) into 0 29.297 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.297 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.298 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.299 * [backup-simplify]: Simplify (+ 0 0) into 0 29.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.300 * [backup-simplify]: Simplify (+ 0 0) into 0 29.300 * [backup-simplify]: Simplify (- 0) into 0 29.300 * [backup-simplify]: Simplify (+ 0 0) into 0 29.303 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.304 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.304 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))))) in lambda2 29.304 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 29.304 * [taylor]: Taking taylor expansion of 1/2 in lambda2 29.304 * [backup-simplify]: Simplify 1/2 into 1/2 29.304 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 29.304 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 29.304 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) in lambda2 29.304 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 4) in lambda2 29.304 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.304 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.304 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.304 * [backup-simplify]: Simplify -0.5 into -0.5 29.304 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.304 * [backup-simplify]: Simplify phi2 into phi2 29.304 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.304 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.305 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.305 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.305 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.305 * [backup-simplify]: Simplify (- 0) into 0 29.305 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.305 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 4) in lambda2 29.305 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.305 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.305 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.305 * [backup-simplify]: Simplify -0.5 into -0.5 29.305 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.305 * [backup-simplify]: Simplify phi1 into phi1 29.305 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.305 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.305 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.305 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.305 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.306 * [backup-simplify]: Simplify (- 0) into 0 29.306 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.306 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 29.306 * [taylor]: Taking taylor expansion of R in lambda2 29.306 * [backup-simplify]: Simplify R into R 29.306 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 29.306 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 29.306 * [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 29.306 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.306 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.306 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.306 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.306 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.306 * [backup-simplify]: Simplify -0.5 into -0.5 29.306 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.306 * [backup-simplify]: Simplify phi2 into phi2 29.306 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.306 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.306 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.306 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.306 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.307 * [backup-simplify]: Simplify (- 0) into 0 29.307 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.307 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.307 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.307 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.307 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.307 * [backup-simplify]: Simplify -0.5 into -0.5 29.307 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.307 * [backup-simplify]: Simplify phi1 into phi1 29.307 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.307 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.307 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.307 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.307 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.307 * [backup-simplify]: Simplify (- 0) into 0 29.307 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.307 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.308 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.308 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.308 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.308 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.308 * [backup-simplify]: Simplify -0.5 into -0.5 29.308 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.308 * [backup-simplify]: Simplify phi2 into phi2 29.308 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.308 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.308 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.308 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.308 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.308 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.308 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.308 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.308 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.308 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.308 * [backup-simplify]: Simplify -0.5 into -0.5 29.308 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.308 * [backup-simplify]: Simplify phi1 into phi1 29.308 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.308 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.308 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.308 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.308 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.308 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.308 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 29.308 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.309 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.309 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.309 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.309 * [backup-simplify]: Simplify -0.5 into -0.5 29.309 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.309 * [backup-simplify]: Simplify phi2 into phi2 29.309 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.309 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.309 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.309 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.309 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.309 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.309 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.309 * [backup-simplify]: Simplify -0.5 into -0.5 29.309 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.309 * [backup-simplify]: Simplify phi2 into phi2 29.309 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.309 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.309 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.309 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.309 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.309 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.309 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.309 * [backup-simplify]: Simplify -0.5 into -0.5 29.309 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.309 * [backup-simplify]: Simplify phi1 into phi1 29.309 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.309 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.309 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.309 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.309 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.309 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.309 * [backup-simplify]: Simplify -0.5 into -0.5 29.309 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.309 * [backup-simplify]: Simplify phi1 into phi1 29.309 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.309 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.310 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.310 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.310 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.310 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.310 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.310 * [backup-simplify]: Simplify -0.5 into -0.5 29.310 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.310 * [backup-simplify]: Simplify phi2 into phi2 29.310 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.310 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.310 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.310 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.310 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.310 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.310 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.310 * [backup-simplify]: Simplify -0.5 into -0.5 29.310 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.310 * [backup-simplify]: Simplify phi2 into phi2 29.310 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.310 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.310 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.310 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.310 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.310 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.310 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.310 * [backup-simplify]: Simplify -0.5 into -0.5 29.310 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.310 * [backup-simplify]: Simplify phi1 into phi1 29.310 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.310 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.310 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.310 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.310 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.310 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.310 * [backup-simplify]: Simplify -0.5 into -0.5 29.310 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.310 * [backup-simplify]: Simplify phi1 into phi1 29.310 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.311 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.311 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.311 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 29.311 * [taylor]: Taking taylor expansion of lambda2 in lambda2 29.311 * [backup-simplify]: Simplify 0 into 0 29.311 * [backup-simplify]: Simplify 1 into 1 29.311 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.311 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 4) 29.311 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.311 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 4) 29.311 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) into (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) 29.312 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.312 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.312 * [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)) 29.312 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.312 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.312 * [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)) 29.313 * [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))) 29.313 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.313 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.313 * [backup-simplify]: Simplify (- 0) into 0 29.313 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.313 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.313 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.313 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.314 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.314 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.314 * [backup-simplify]: Simplify (- 0) into 0 29.314 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.314 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.314 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.314 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.314 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.314 * [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)))) 29.315 * [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))))) 29.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.315 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.315 * [backup-simplify]: Simplify (- 0) into 0 29.315 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.315 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.316 * [backup-simplify]: Simplify (- 0) into 0 29.316 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.316 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.316 * [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)))) 29.316 * [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))))) 29.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.317 * [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))))))) 29.318 * [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))))))) 29.319 * [backup-simplify]: Simplify (* 1 1) into 1 29.319 * [backup-simplify]: Simplify (* 1 1) into 1 29.320 * [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))))))) 1) 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))))))) 29.321 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 29.322 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 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))))))) R)) into (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 29.322 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 29.322 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 29.322 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 29.322 * [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 29.322 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.322 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.323 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.323 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.323 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.323 * [backup-simplify]: Simplify -0.5 into -0.5 29.323 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.323 * [backup-simplify]: Simplify phi2 into phi2 29.323 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.323 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.323 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.323 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.323 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.323 * [backup-simplify]: Simplify (- 0) into 0 29.323 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.323 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.323 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.323 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.323 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.323 * [backup-simplify]: Simplify -0.5 into -0.5 29.323 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.323 * [backup-simplify]: Simplify phi1 into phi1 29.323 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.324 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.324 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.324 * [backup-simplify]: Simplify (- 0) into 0 29.324 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.324 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.324 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.324 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.324 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.324 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.324 * [backup-simplify]: Simplify -0.5 into -0.5 29.324 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.324 * [backup-simplify]: Simplify phi2 into phi2 29.324 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.324 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.324 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.324 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.325 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.325 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.325 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.325 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.325 * [backup-simplify]: Simplify -0.5 into -0.5 29.325 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.325 * [backup-simplify]: Simplify phi1 into phi1 29.325 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.325 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.325 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.325 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.325 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.325 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 29.325 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.325 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.325 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.325 * [backup-simplify]: Simplify -0.5 into -0.5 29.325 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.325 * [backup-simplify]: Simplify phi2 into phi2 29.325 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.325 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.325 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.325 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.325 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.325 * [backup-simplify]: Simplify -0.5 into -0.5 29.325 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.325 * [backup-simplify]: Simplify phi2 into phi2 29.325 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.326 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.326 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.326 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.326 * [backup-simplify]: Simplify -0.5 into -0.5 29.326 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.326 * [backup-simplify]: Simplify phi1 into phi1 29.326 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.326 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.326 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.326 * [backup-simplify]: Simplify -0.5 into -0.5 29.326 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.326 * [backup-simplify]: Simplify phi1 into phi1 29.326 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.326 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.326 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.326 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.326 * [backup-simplify]: Simplify -0.5 into -0.5 29.326 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.326 * [backup-simplify]: Simplify phi2 into phi2 29.326 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.326 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.326 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.326 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.326 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.326 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.326 * [backup-simplify]: Simplify -0.5 into -0.5 29.326 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.326 * [backup-simplify]: Simplify phi2 into phi2 29.327 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.327 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.327 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.327 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.327 * [backup-simplify]: Simplify -0.5 into -0.5 29.327 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.327 * [backup-simplify]: Simplify phi1 into phi1 29.327 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.327 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.327 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.327 * [backup-simplify]: Simplify -0.5 into -0.5 29.327 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.327 * [backup-simplify]: Simplify phi1 into phi1 29.327 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.327 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.327 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.328 * [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)) 29.328 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.328 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.328 * [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)) 29.329 * [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))) 29.329 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.329 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.329 * [backup-simplify]: Simplify (- 0) into 0 29.330 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.330 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.330 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.330 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.331 * [backup-simplify]: Simplify (- 0) into 0 29.331 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.331 * [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)))) 29.332 * [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))))) 29.332 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.332 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.332 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.332 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.332 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.333 * [backup-simplify]: Simplify (- 0) into 0 29.333 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.333 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.333 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.333 * [backup-simplify]: Simplify (- 0) into 0 29.333 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.334 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.334 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.334 * [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)))) 29.334 * [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))))) 29.335 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.336 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.337 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.338 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 29.339 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.340 * [backup-simplify]: Simplify (+ 0) into 0 29.340 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.340 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.341 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.341 * [backup-simplify]: Simplify (- 0) into 0 29.342 * [backup-simplify]: Simplify (+ 0 0) into 0 29.342 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.342 * [backup-simplify]: Simplify (+ 0) into 0 29.342 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.342 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.343 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.343 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.343 * [backup-simplify]: Simplify (- 0) into 0 29.344 * [backup-simplify]: Simplify (+ 0 0) into 0 29.344 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.344 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.344 * [backup-simplify]: Simplify (+ 0) into 0 29.345 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.345 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.346 * [backup-simplify]: Simplify (+ 0 0) into 0 29.346 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.346 * [backup-simplify]: Simplify (+ 0) into 0 29.347 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.347 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.348 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.348 * [backup-simplify]: Simplify (+ 0 0) into 0 29.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.348 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.349 * [backup-simplify]: Simplify (+ 0 0) into 0 29.349 * [backup-simplify]: Simplify (+ 0) into 0 29.349 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.349 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.350 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.350 * [backup-simplify]: Simplify (- 0) into 0 29.351 * [backup-simplify]: Simplify (+ 0 0) into 0 29.351 * [backup-simplify]: Simplify (+ 0) into 0 29.351 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.352 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.352 * [backup-simplify]: Simplify (+ 0 0) into 0 29.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.353 * [backup-simplify]: Simplify (+ 0) into 0 29.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.353 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.354 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.354 * [backup-simplify]: Simplify (+ 0 0) into 0 29.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.355 * [backup-simplify]: Simplify (+ 0) into 0 29.359 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.360 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.360 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.361 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.361 * [backup-simplify]: Simplify (- 0) into 0 29.361 * [backup-simplify]: Simplify (+ 0 0) into 0 29.361 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.362 * [backup-simplify]: Simplify (+ 0) into 0 29.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.362 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.363 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.363 * [backup-simplify]: Simplify (+ 0 0) into 0 29.364 * [backup-simplify]: Simplify (+ 0) into 0 29.364 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.364 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.365 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.365 * [backup-simplify]: Simplify (- 0) into 0 29.366 * [backup-simplify]: Simplify (+ 0 0) into 0 29.366 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.366 * [backup-simplify]: Simplify (+ 0) into 0 29.366 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.366 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.367 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.368 * [backup-simplify]: Simplify (- 0) into 0 29.368 * [backup-simplify]: Simplify (+ 0 0) into 0 29.368 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.368 * [backup-simplify]: Simplify (+ 0) into 0 29.369 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.369 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.370 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.370 * [backup-simplify]: Simplify (+ 0 0) into 0 29.370 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.371 * [backup-simplify]: Simplify (+ 0 0) into 0 29.371 * [backup-simplify]: Simplify (- 0) into 0 29.371 * [backup-simplify]: Simplify (+ 0 0) into 0 29.373 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.375 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.375 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))))) in lambda2 29.375 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 29.375 * [taylor]: Taking taylor expansion of 1/2 in lambda2 29.375 * [backup-simplify]: Simplify 1/2 into 1/2 29.375 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 29.375 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 29.375 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) in lambda2 29.375 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.375 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.375 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.375 * [backup-simplify]: Simplify -0.5 into -0.5 29.375 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.375 * [backup-simplify]: Simplify phi2 into phi2 29.375 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.375 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.376 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5))) in lambda2 29.376 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.376 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.376 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.376 * [backup-simplify]: Simplify -0.5 into -0.5 29.376 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.376 * [backup-simplify]: Simplify phi1 into phi1 29.376 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.376 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.376 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.376 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)) in lambda2 29.376 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 5) in lambda2 29.376 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.376 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.376 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.376 * [backup-simplify]: Simplify -0.5 into -0.5 29.376 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.376 * [backup-simplify]: Simplify phi1 into phi1 29.376 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.376 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.376 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.376 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.376 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 5) in lambda2 29.376 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.376 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.376 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.376 * [backup-simplify]: Simplify -0.5 into -0.5 29.376 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.376 * [backup-simplify]: Simplify phi2 into phi2 29.376 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.377 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.377 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.377 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.377 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.377 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 29.377 * [taylor]: Taking taylor expansion of R in lambda2 29.377 * [backup-simplify]: Simplify R into R 29.377 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 29.377 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 29.377 * [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 29.377 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.377 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.377 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.377 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.377 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.377 * [backup-simplify]: Simplify -0.5 into -0.5 29.377 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.377 * [backup-simplify]: Simplify phi2 into phi2 29.377 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.377 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.377 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.377 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.377 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.378 * [backup-simplify]: Simplify (- 0) into 0 29.378 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.378 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.378 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.378 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.378 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.378 * [backup-simplify]: Simplify -0.5 into -0.5 29.378 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.378 * [backup-simplify]: Simplify phi1 into phi1 29.378 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.378 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.378 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.379 * [backup-simplify]: Simplify (- 0) into 0 29.379 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.379 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.379 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.379 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.379 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.379 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.379 * [backup-simplify]: Simplify -0.5 into -0.5 29.379 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.379 * [backup-simplify]: Simplify phi2 into phi2 29.379 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.379 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.379 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.379 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.379 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.379 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.379 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.379 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.379 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.379 * [backup-simplify]: Simplify -0.5 into -0.5 29.379 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.379 * [backup-simplify]: Simplify phi1 into phi1 29.379 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.379 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.379 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.380 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.380 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 29.380 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.380 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.380 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.380 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.380 * [backup-simplify]: Simplify -0.5 into -0.5 29.380 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.380 * [backup-simplify]: Simplify phi2 into phi2 29.380 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.380 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.380 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.380 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.380 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.380 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.380 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.380 * [backup-simplify]: Simplify -0.5 into -0.5 29.380 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.380 * [backup-simplify]: Simplify phi2 into phi2 29.380 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.380 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.380 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.380 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.380 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.380 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.380 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.380 * [backup-simplify]: Simplify -0.5 into -0.5 29.380 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.380 * [backup-simplify]: Simplify phi1 into phi1 29.380 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.380 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.380 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.380 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.380 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.381 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.381 * [backup-simplify]: Simplify -0.5 into -0.5 29.381 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.381 * [backup-simplify]: Simplify phi1 into phi1 29.381 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.381 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.381 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.381 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.381 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.381 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.381 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.381 * [backup-simplify]: Simplify -0.5 into -0.5 29.381 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.381 * [backup-simplify]: Simplify phi2 into phi2 29.381 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.381 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.381 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.381 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.381 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.381 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.381 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.381 * [backup-simplify]: Simplify -0.5 into -0.5 29.381 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.381 * [backup-simplify]: Simplify phi2 into phi2 29.381 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.381 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.381 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.381 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.381 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.381 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.381 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.381 * [backup-simplify]: Simplify -0.5 into -0.5 29.381 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.381 * [backup-simplify]: Simplify phi1 into phi1 29.381 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.381 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.381 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.382 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.382 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.382 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.382 * [backup-simplify]: Simplify -0.5 into -0.5 29.382 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.382 * [backup-simplify]: Simplify phi1 into phi1 29.382 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.382 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.382 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.382 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 29.382 * [taylor]: Taking taylor expansion of lambda2 in lambda2 29.382 * [backup-simplify]: Simplify 0 into 0 29.382 * [backup-simplify]: Simplify 1 into 1 29.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.382 * [backup-simplify]: Simplify (- 0) into 0 29.382 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.383 * [backup-simplify]: Simplify (- 0) into 0 29.383 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.383 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4) 29.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 4)) into (pow (sin (/ -0.5 phi1)) 5) 29.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.384 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4) 29.384 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 4)) into (pow (sin (/ -0.5 phi2)) 5) 29.384 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)) into (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)) 29.384 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5))) into (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))) 29.385 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) into (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) 29.385 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.385 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.385 * [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)) 29.385 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.385 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.385 * [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)) 29.386 * [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))) 29.386 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.386 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.386 * [backup-simplify]: Simplify (- 0) into 0 29.386 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.386 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.387 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.387 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.387 * [backup-simplify]: Simplify (- 0) into 0 29.387 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.387 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.387 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.387 * [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)))) 29.388 * [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))))) 29.388 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.388 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.388 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.388 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.388 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.388 * [backup-simplify]: Simplify (- 0) into 0 29.389 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.389 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.389 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.389 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.390 * [backup-simplify]: Simplify (- 0) into 0 29.390 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.391 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.391 * [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)))) 29.391 * [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))))) 29.392 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.393 * [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))))))) 29.395 * [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))))))) 29.396 * [backup-simplify]: Simplify (* 1 1) into 1 29.396 * [backup-simplify]: Simplify (* 1 1) into 1 29.398 * [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))))))) 1) 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))))))) 29.400 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 29.403 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* (- (+ (* (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))))))) R)) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 29.403 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 29.403 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 29.403 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 29.403 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 29.403 * [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 29.403 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.403 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.403 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.403 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.403 * [backup-simplify]: Simplify -0.5 into -0.5 29.403 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.403 * [backup-simplify]: Simplify phi2 into phi2 29.403 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.403 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.403 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.404 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.404 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.404 * [backup-simplify]: Simplify (- 0) into 0 29.404 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.404 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.404 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.404 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.404 * [backup-simplify]: Simplify -0.5 into -0.5 29.404 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.405 * [backup-simplify]: Simplify phi1 into phi1 29.405 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.405 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.405 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.405 * [backup-simplify]: Simplify (- 0) into 0 29.405 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.405 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.406 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.406 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.406 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.406 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.406 * [backup-simplify]: Simplify -0.5 into -0.5 29.406 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.406 * [backup-simplify]: Simplify phi2 into phi2 29.406 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.406 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.406 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.406 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.406 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.406 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.406 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.406 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.406 * [backup-simplify]: Simplify -0.5 into -0.5 29.406 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.406 * [backup-simplify]: Simplify phi1 into phi1 29.407 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.407 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.407 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.407 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.407 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 29.407 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.407 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.407 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.407 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.407 * [backup-simplify]: Simplify -0.5 into -0.5 29.407 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.407 * [backup-simplify]: Simplify phi2 into phi2 29.407 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.407 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.408 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.408 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.408 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.408 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.408 * [backup-simplify]: Simplify -0.5 into -0.5 29.408 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.408 * [backup-simplify]: Simplify phi2 into phi2 29.408 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.408 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.408 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.408 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.408 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.408 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.408 * [backup-simplify]: Simplify -0.5 into -0.5 29.408 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.408 * [backup-simplify]: Simplify phi1 into phi1 29.408 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.408 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.408 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.408 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.409 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.409 * [backup-simplify]: Simplify -0.5 into -0.5 29.409 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.409 * [backup-simplify]: Simplify phi1 into phi1 29.409 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.409 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.409 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.409 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.409 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.409 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.409 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.409 * [backup-simplify]: Simplify -0.5 into -0.5 29.409 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.409 * [backup-simplify]: Simplify phi2 into phi2 29.409 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.409 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.409 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.409 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.409 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.409 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.409 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.409 * [backup-simplify]: Simplify -0.5 into -0.5 29.409 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.409 * [backup-simplify]: Simplify phi2 into phi2 29.410 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.410 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.410 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.410 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.410 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.410 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.410 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.410 * [backup-simplify]: Simplify -0.5 into -0.5 29.410 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.410 * [backup-simplify]: Simplify phi1 into phi1 29.410 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.410 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.410 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.410 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.410 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.410 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.410 * [backup-simplify]: Simplify -0.5 into -0.5 29.410 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.410 * [backup-simplify]: Simplify phi1 into phi1 29.410 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.410 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.411 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.411 * [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)) 29.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.412 * [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)) 29.412 * [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))) 29.413 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.413 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.413 * [backup-simplify]: Simplify (- 0) into 0 29.413 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.413 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.413 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.413 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.413 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.413 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.413 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.414 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.414 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.414 * [backup-simplify]: Simplify (- 0) into 0 29.414 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.414 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.414 * [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)))) 29.414 * [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))))) 29.414 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.414 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.415 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.415 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.415 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.415 * [backup-simplify]: Simplify (- 0) into 0 29.415 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.415 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.415 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.415 * [backup-simplify]: Simplify (- 0) into 0 29.415 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.415 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.416 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.416 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.416 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.416 * [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)))) 29.416 * [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))))) 29.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.417 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.418 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.420 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 29.422 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 29.425 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.427 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.427 * [backup-simplify]: Simplify (+ 0) into 0 29.428 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.428 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.429 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.429 * [backup-simplify]: Simplify (- 0) into 0 29.429 * [backup-simplify]: Simplify (+ 0 0) into 0 29.429 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.430 * [backup-simplify]: Simplify (+ 0) into 0 29.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.430 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.431 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.431 * [backup-simplify]: Simplify (- 0) into 0 29.431 * [backup-simplify]: Simplify (+ 0 0) into 0 29.432 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.432 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.432 * [backup-simplify]: Simplify (+ 0) into 0 29.432 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.433 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.434 * [backup-simplify]: Simplify (+ 0 0) into 0 29.434 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.434 * [backup-simplify]: Simplify (+ 0) into 0 29.434 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.434 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.435 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.435 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.435 * [backup-simplify]: Simplify (+ 0 0) into 0 29.436 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.436 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.436 * [backup-simplify]: Simplify (+ 0 0) into 0 29.436 * [backup-simplify]: Simplify (+ 0) into 0 29.437 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.437 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.438 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.438 * [backup-simplify]: Simplify (- 0) into 0 29.438 * [backup-simplify]: Simplify (+ 0 0) into 0 29.438 * [backup-simplify]: Simplify (+ 0) into 0 29.439 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.439 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.439 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.440 * [backup-simplify]: Simplify (+ 0 0) into 0 29.440 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.440 * [backup-simplify]: Simplify (+ 0) into 0 29.441 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.441 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.442 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.442 * [backup-simplify]: Simplify (+ 0 0) into 0 29.442 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.442 * [backup-simplify]: Simplify (+ 0) into 0 29.443 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.443 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.444 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.444 * [backup-simplify]: Simplify (- 0) into 0 29.444 * [backup-simplify]: Simplify (+ 0 0) into 0 29.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.445 * [backup-simplify]: Simplify (+ 0) into 0 29.445 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.445 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.446 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.446 * [backup-simplify]: Simplify (+ 0 0) into 0 29.446 * [backup-simplify]: Simplify (+ 0) into 0 29.447 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.447 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.448 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.448 * [backup-simplify]: Simplify (- 0) into 0 29.448 * [backup-simplify]: Simplify (+ 0 0) into 0 29.448 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.448 * [backup-simplify]: Simplify (+ 0) into 0 29.449 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.449 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.449 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.450 * [backup-simplify]: Simplify (- 0) into 0 29.450 * [backup-simplify]: Simplify (+ 0 0) into 0 29.450 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.451 * [backup-simplify]: Simplify (+ 0) into 0 29.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.451 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.452 * [backup-simplify]: Simplify (+ 0 0) into 0 29.453 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.453 * [backup-simplify]: Simplify (+ 0 0) into 0 29.453 * [backup-simplify]: Simplify (- 0) into 0 29.454 * [backup-simplify]: Simplify (+ 0 0) into 0 29.457 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 29.461 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 29.465 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 29.468 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 29.468 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))))) in lambda2 29.468 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 29.468 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))))) in lambda2 29.468 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2 29.468 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.468 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.468 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.468 * [backup-simplify]: Simplify -0.5 into -0.5 29.468 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.468 * [backup-simplify]: Simplify phi2 into phi2 29.468 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.468 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.468 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.468 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2 29.468 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.468 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.468 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.469 * [backup-simplify]: Simplify -0.5 into -0.5 29.469 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.469 * [backup-simplify]: Simplify phi1 into phi1 29.469 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.469 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.469 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.469 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2 29.469 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.469 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.469 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.469 * [backup-simplify]: Simplify -0.5 into -0.5 29.469 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.469 * [backup-simplify]: Simplify phi2 into phi2 29.469 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.469 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.469 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.469 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.469 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.469 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.469 * [backup-simplify]: Simplify -0.5 into -0.5 29.469 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.469 * [backup-simplify]: Simplify phi1 into phi1 29.469 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.469 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.469 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.469 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 29.469 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.469 * [backup-simplify]: Simplify phi2 into phi2 29.469 * [taylor]: Taking taylor expansion of (* phi1 (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 29.470 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.470 * [backup-simplify]: Simplify phi1 into phi1 29.470 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 29.470 * [taylor]: Taking taylor expansion of R in lambda2 29.470 * [backup-simplify]: Simplify R into R 29.470 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 29.470 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 29.470 * [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 29.470 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.470 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.470 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.470 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.470 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.470 * [backup-simplify]: Simplify -0.5 into -0.5 29.470 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.470 * [backup-simplify]: Simplify phi2 into phi2 29.470 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.470 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.470 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.470 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.470 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.470 * [backup-simplify]: Simplify (- 0) into 0 29.471 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.471 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.471 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.471 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.471 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.471 * [backup-simplify]: Simplify -0.5 into -0.5 29.471 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.471 * [backup-simplify]: Simplify phi1 into phi1 29.471 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.471 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.471 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.471 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.471 * [backup-simplify]: Simplify (- 0) into 0 29.471 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.471 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.471 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.471 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.471 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.471 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.471 * [backup-simplify]: Simplify -0.5 into -0.5 29.471 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.471 * [backup-simplify]: Simplify phi2 into phi2 29.472 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.472 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.472 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.472 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.472 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.472 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.472 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.472 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.472 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.472 * [backup-simplify]: Simplify -0.5 into -0.5 29.472 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.472 * [backup-simplify]: Simplify phi1 into phi1 29.472 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.472 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.472 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.472 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.472 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.472 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 29.472 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.472 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.472 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.472 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.472 * [backup-simplify]: Simplify -0.5 into -0.5 29.472 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.472 * [backup-simplify]: Simplify phi2 into phi2 29.472 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.473 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.473 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.473 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.473 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.473 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.473 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.473 * [backup-simplify]: Simplify -0.5 into -0.5 29.473 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.473 * [backup-simplify]: Simplify phi2 into phi2 29.473 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.473 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.473 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.473 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.473 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.473 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.473 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.473 * [backup-simplify]: Simplify -0.5 into -0.5 29.473 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.473 * [backup-simplify]: Simplify phi1 into phi1 29.473 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.473 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.473 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.473 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.473 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.473 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.473 * [backup-simplify]: Simplify -0.5 into -0.5 29.473 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.473 * [backup-simplify]: Simplify phi1 into phi1 29.473 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.473 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.473 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.473 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.473 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.473 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.473 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.473 * [backup-simplify]: Simplify -0.5 into -0.5 29.473 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.473 * [backup-simplify]: Simplify phi2 into phi2 29.474 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.474 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.474 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.474 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.474 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.474 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.474 * [backup-simplify]: Simplify -0.5 into -0.5 29.474 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.474 * [backup-simplify]: Simplify phi2 into phi2 29.474 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.474 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.474 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.474 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.474 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.474 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.474 * [backup-simplify]: Simplify -0.5 into -0.5 29.474 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.474 * [backup-simplify]: Simplify phi1 into phi1 29.474 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.474 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.474 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.474 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.474 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.474 * [backup-simplify]: Simplify -0.5 into -0.5 29.474 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.474 * [backup-simplify]: Simplify phi1 into phi1 29.474 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.474 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.474 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.474 * [taylor]: Taking taylor expansion of lambda2 in lambda2 29.474 * [backup-simplify]: Simplify 0 into 0 29.474 * [backup-simplify]: Simplify 1 into 1 29.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.475 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.475 * [backup-simplify]: Simplify (- 0) into 0 29.475 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.476 * [backup-simplify]: Simplify (- 0) into 0 29.476 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.476 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.476 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 29.476 * [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)))) 29.476 * [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))))) 29.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.477 * [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)) 29.477 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.477 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.477 * [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)) 29.478 * [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))) 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))) 29.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.478 * [backup-simplify]: Simplify (- 0) into 0 29.478 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.478 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.479 * [backup-simplify]: Simplify (- 0) into 0 29.479 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.479 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.479 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.479 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.479 * [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)))) 29.479 * [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))))) 29.479 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.480 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.480 * [backup-simplify]: Simplify (- 0) into 0 29.480 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.480 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.480 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.480 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.485 * [backup-simplify]: Simplify (- 0) into 0 29.486 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.486 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.486 * [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)))) 29.486 * [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))))) 29.486 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.487 * [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))))))) 29.488 * [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))))))) 29.489 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 29.489 * [backup-simplify]: Simplify (* R 0) into 0 29.489 * [backup-simplify]: Simplify (* phi1 0) into 0 29.489 * [backup-simplify]: Simplify (* phi2 0) into 0 29.490 * [backup-simplify]: Simplify (+ 0) into 0 29.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.490 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.491 * [backup-simplify]: Simplify (- 0) into 0 29.492 * [backup-simplify]: Simplify (+ 0 0) into 0 29.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.492 * [backup-simplify]: Simplify (+ 0) into 0 29.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.492 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.493 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.493 * [backup-simplify]: Simplify (- 0) into 0 29.494 * [backup-simplify]: Simplify (+ 0 0) into 0 29.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.494 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.494 * [backup-simplify]: Simplify (+ 0) into 0 29.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.495 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.496 * [backup-simplify]: Simplify (+ 0 0) into 0 29.496 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.496 * [backup-simplify]: Simplify (+ 0) into 0 29.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.497 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.498 * [backup-simplify]: Simplify (+ 0 0) into 0 29.498 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.498 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.498 * [backup-simplify]: Simplify (+ 0 0) into 0 29.499 * [backup-simplify]: Simplify (+ 0) into 0 29.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.499 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.500 * [backup-simplify]: Simplify (+ 0 0) into 0 29.500 * [backup-simplify]: Simplify (+ 0) into 0 29.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.501 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.502 * [backup-simplify]: Simplify (- 0) into 0 29.502 * [backup-simplify]: Simplify (+ 0 0) into 0 29.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.503 * [backup-simplify]: Simplify (+ 0) into 0 29.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.503 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.504 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.504 * [backup-simplify]: Simplify (+ 0 0) into 0 29.504 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.505 * [backup-simplify]: Simplify (+ 0) into 0 29.505 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.505 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.506 * [backup-simplify]: Simplify (- 0) into 0 29.506 * [backup-simplify]: Simplify (+ 0 0) into 0 29.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.507 * [backup-simplify]: Simplify (+ 0) into 0 29.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.507 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.508 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.508 * [backup-simplify]: Simplify (- 0) into 0 29.509 * [backup-simplify]: Simplify (+ 0 0) into 0 29.509 * [backup-simplify]: Simplify (+ 0) into 0 29.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.510 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.510 * [backup-simplify]: Simplify (+ 0 0) into 0 29.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.511 * [backup-simplify]: Simplify (+ 0) into 0 29.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.511 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.512 * [backup-simplify]: Simplify (- 0) into 0 29.512 * [backup-simplify]: Simplify (+ 0 0) into 0 29.513 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.513 * [backup-simplify]: Simplify (+ 0) into 0 29.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.513 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.514 * [backup-simplify]: Simplify (+ 0 0) into 0 29.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.515 * [backup-simplify]: Simplify (+ 0 0) into 0 29.515 * [backup-simplify]: Simplify (- 0) into 0 29.515 * [backup-simplify]: Simplify (+ 0 0) into 0 29.517 * [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))))))) 1) (* 0 0)) 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))))))) 29.520 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 29.523 * [backup-simplify]: Simplify (+ (* phi1 (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) 29.526 * [backup-simplify]: Simplify (+ (* phi2 (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (* 0 0)) into (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 29.530 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 29.530 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 29.530 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 29.530 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 29.530 * [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 29.530 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.530 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.530 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.531 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.531 * [backup-simplify]: Simplify -0.5 into -0.5 29.531 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.531 * [backup-simplify]: Simplify phi2 into phi2 29.531 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.531 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.531 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.532 * [backup-simplify]: Simplify (- 0) into 0 29.532 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.532 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.532 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.532 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.532 * [backup-simplify]: Simplify -0.5 into -0.5 29.532 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.532 * [backup-simplify]: Simplify phi1 into phi1 29.532 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.533 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.533 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.533 * [backup-simplify]: Simplify (- 0) into 0 29.533 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.533 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.533 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.533 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.533 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.533 * [backup-simplify]: Simplify -0.5 into -0.5 29.533 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.533 * [backup-simplify]: Simplify phi2 into phi2 29.533 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.534 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.534 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.534 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.534 * [backup-simplify]: Simplify -0.5 into -0.5 29.534 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.534 * [backup-simplify]: Simplify phi1 into phi1 29.534 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.535 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.535 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 29.535 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.535 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.535 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.535 * [backup-simplify]: Simplify -0.5 into -0.5 29.535 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.535 * [backup-simplify]: Simplify phi2 into phi2 29.535 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.535 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.535 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.535 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.535 * [backup-simplify]: Simplify -0.5 into -0.5 29.535 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.535 * [backup-simplify]: Simplify phi2 into phi2 29.536 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.536 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.536 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.536 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.536 * [backup-simplify]: Simplify -0.5 into -0.5 29.536 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.536 * [backup-simplify]: Simplify phi1 into phi1 29.536 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.536 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.536 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.536 * [backup-simplify]: Simplify -0.5 into -0.5 29.536 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.536 * [backup-simplify]: Simplify phi1 into phi1 29.536 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.537 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.537 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.537 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.537 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.537 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.537 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.537 * [backup-simplify]: Simplify -0.5 into -0.5 29.537 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.537 * [backup-simplify]: Simplify phi2 into phi2 29.537 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.537 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.537 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.537 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.537 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.537 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.537 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.537 * [backup-simplify]: Simplify -0.5 into -0.5 29.537 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.537 * [backup-simplify]: Simplify phi2 into phi2 29.537 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.538 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.538 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.538 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.538 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.538 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.538 * [backup-simplify]: Simplify -0.5 into -0.5 29.538 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.538 * [backup-simplify]: Simplify phi1 into phi1 29.538 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.538 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.538 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.538 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.538 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.538 * [backup-simplify]: Simplify -0.5 into -0.5 29.538 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.538 * [backup-simplify]: Simplify phi1 into phi1 29.538 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.538 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.539 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.539 * [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)) 29.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.540 * [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)) 29.541 * [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))) 29.541 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.542 * [backup-simplify]: Simplify (- 0) into 0 29.542 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.542 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.542 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.543 * [backup-simplify]: Simplify (- 0) into 0 29.543 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.544 * [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)))) 29.544 * [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))))) 29.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.544 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.545 * [backup-simplify]: Simplify (- 0) into 0 29.545 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.545 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.545 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.546 * [backup-simplify]: Simplify (- 0) into 0 29.546 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.546 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.546 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.546 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.546 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.546 * [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)))) 29.547 * [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))))) 29.547 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.548 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.550 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.552 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 29.554 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.555 * [backup-simplify]: Simplify (+ 0) into 0 29.555 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.555 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.557 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.557 * [backup-simplify]: Simplify (- 0) into 0 29.557 * [backup-simplify]: Simplify (+ 0 0) into 0 29.558 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.558 * [backup-simplify]: Simplify (+ 0) into 0 29.559 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.559 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.560 * [backup-simplify]: Simplify (- 0) into 0 29.561 * [backup-simplify]: Simplify (+ 0 0) into 0 29.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.561 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.562 * [backup-simplify]: Simplify (+ 0) into 0 29.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.562 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.564 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.564 * [backup-simplify]: Simplify (+ 0 0) into 0 29.564 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.565 * [backup-simplify]: Simplify (+ 0) into 0 29.565 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.565 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.566 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.567 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.567 * [backup-simplify]: Simplify (+ 0 0) into 0 29.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.567 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.568 * [backup-simplify]: Simplify (+ 0 0) into 0 29.568 * [backup-simplify]: Simplify (+ 0) into 0 29.569 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.570 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.570 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.570 * [backup-simplify]: Simplify (- 0) into 0 29.571 * [backup-simplify]: Simplify (+ 0 0) into 0 29.571 * [backup-simplify]: Simplify (+ 0) into 0 29.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.572 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.573 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.573 * [backup-simplify]: Simplify (+ 0 0) into 0 29.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.574 * [backup-simplify]: Simplify (+ 0) into 0 29.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.575 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.576 * [backup-simplify]: Simplify (+ 0 0) into 0 29.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.577 * [backup-simplify]: Simplify (+ 0) into 0 29.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.578 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.579 * [backup-simplify]: Simplify (- 0) into 0 29.580 * [backup-simplify]: Simplify (+ 0 0) into 0 29.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.581 * [backup-simplify]: Simplify (+ 0) into 0 29.581 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.581 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.582 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.583 * [backup-simplify]: Simplify (+ 0 0) into 0 29.583 * [backup-simplify]: Simplify (+ 0) into 0 29.584 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.584 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.585 * [backup-simplify]: Simplify (- 0) into 0 29.585 * [backup-simplify]: Simplify (+ 0 0) into 0 29.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.586 * [backup-simplify]: Simplify (+ 0) into 0 29.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.586 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.587 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.587 * [backup-simplify]: Simplify (- 0) into 0 29.587 * [backup-simplify]: Simplify (+ 0 0) into 0 29.588 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.588 * [backup-simplify]: Simplify (+ 0) into 0 29.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.589 * [backup-simplify]: Simplify (+ 0 0) into 0 29.590 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.590 * [backup-simplify]: Simplify (+ 0 0) into 0 29.590 * [backup-simplify]: Simplify (- 0) into 0 29.591 * [backup-simplify]: Simplify (+ 0 0) into 0 29.594 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.597 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.597 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))))) in lambda2 29.597 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 29.597 * [taylor]: Taking taylor expansion of 1/2 in lambda2 29.597 * [backup-simplify]: Simplify 1/2 into 1/2 29.597 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 29.597 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 29.597 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) in lambda2 29.598 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 4) in lambda2 29.598 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.598 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.598 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.598 * [backup-simplify]: Simplify -0.5 into -0.5 29.598 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.598 * [backup-simplify]: Simplify phi2 into phi2 29.598 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.598 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.598 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.598 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.598 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.598 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.598 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 4) in lambda2 29.599 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.599 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.599 * [backup-simplify]: Simplify -0.5 into -0.5 29.599 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.599 * [backup-simplify]: Simplify phi1 into phi1 29.599 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.599 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.599 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.599 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.599 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.599 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.599 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 29.599 * [taylor]: Taking taylor expansion of R in lambda2 29.599 * [backup-simplify]: Simplify R into R 29.599 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 29.599 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 29.600 * [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 29.600 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.600 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.600 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.600 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.600 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.600 * [backup-simplify]: Simplify -0.5 into -0.5 29.600 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.600 * [backup-simplify]: Simplify phi2 into phi2 29.600 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.600 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.600 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.600 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.601 * [backup-simplify]: Simplify (- 0) into 0 29.601 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.601 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.601 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.601 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.601 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.601 * [backup-simplify]: Simplify -0.5 into -0.5 29.601 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.601 * [backup-simplify]: Simplify phi1 into phi1 29.601 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.602 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.602 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.602 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.602 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.602 * [backup-simplify]: Simplify (- 0) into 0 29.602 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.602 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.602 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.602 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.603 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.603 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.603 * [backup-simplify]: Simplify -0.5 into -0.5 29.603 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.603 * [backup-simplify]: Simplify phi2 into phi2 29.603 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.603 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.603 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.603 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.603 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.603 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.604 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.604 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.604 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.604 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.604 * [backup-simplify]: Simplify -0.5 into -0.5 29.604 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.604 * [backup-simplify]: Simplify phi1 into phi1 29.604 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.604 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.604 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.604 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.604 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.604 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.604 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 29.604 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.604 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.604 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.604 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.604 * [backup-simplify]: Simplify -0.5 into -0.5 29.605 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.605 * [backup-simplify]: Simplify phi2 into phi2 29.605 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.605 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.605 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.605 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.605 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.605 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.605 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.605 * [backup-simplify]: Simplify -0.5 into -0.5 29.605 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.605 * [backup-simplify]: Simplify phi2 into phi2 29.605 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.605 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.605 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.605 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.605 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.605 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.605 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.605 * [backup-simplify]: Simplify -0.5 into -0.5 29.605 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.605 * [backup-simplify]: Simplify phi1 into phi1 29.605 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.606 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.606 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.606 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.606 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.606 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.606 * [backup-simplify]: Simplify -0.5 into -0.5 29.606 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.606 * [backup-simplify]: Simplify phi1 into phi1 29.606 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.606 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.606 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.606 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.606 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.606 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.606 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.606 * [backup-simplify]: Simplify -0.5 into -0.5 29.606 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.606 * [backup-simplify]: Simplify phi2 into phi2 29.606 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.606 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.607 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.607 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.607 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.607 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.607 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.607 * [backup-simplify]: Simplify -0.5 into -0.5 29.607 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.607 * [backup-simplify]: Simplify phi2 into phi2 29.607 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.607 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.607 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.607 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.607 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.607 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.607 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.607 * [backup-simplify]: Simplify -0.5 into -0.5 29.607 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.607 * [backup-simplify]: Simplify phi1 into phi1 29.607 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.607 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.607 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.607 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.608 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.608 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.608 * [backup-simplify]: Simplify -0.5 into -0.5 29.608 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.608 * [backup-simplify]: Simplify phi1 into phi1 29.608 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.608 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.608 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.608 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 29.608 * [taylor]: Taking taylor expansion of lambda2 in lambda2 29.608 * [backup-simplify]: Simplify 0 into 0 29.608 * [backup-simplify]: Simplify 1 into 1 29.608 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.609 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4) 29.609 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.609 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4) 29.609 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) into (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) 29.610 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.610 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.610 * [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)) 29.610 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.610 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.611 * [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)) 29.611 * [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))) 29.612 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.612 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.612 * [backup-simplify]: Simplify (- 0) into 0 29.612 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.612 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.613 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.613 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.613 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.613 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.613 * [backup-simplify]: Simplify (- 0) into 0 29.613 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.614 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.614 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.614 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.614 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.614 * [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)))) 29.615 * [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))))) 29.615 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.615 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.615 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.615 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.615 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.616 * [backup-simplify]: Simplify (- 0) into 0 29.616 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.616 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.616 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.616 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.617 * [backup-simplify]: Simplify (- 0) into 0 29.617 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.617 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.617 * [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)))) 29.617 * [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))))) 29.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.619 * [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))))))) 29.621 * [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))))))) 29.621 * [backup-simplify]: Simplify (* 1 1) into 1 29.621 * [backup-simplify]: Simplify (* 1 1) into 1 29.622 * [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))))))) 1) 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))))))) 29.623 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 29.625 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 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))))))) R)) into (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 29.625 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 29.625 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 29.625 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 29.625 * [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 29.625 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.625 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.625 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.625 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.625 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.625 * [backup-simplify]: Simplify -0.5 into -0.5 29.625 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.625 * [backup-simplify]: Simplify phi2 into phi2 29.625 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.625 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.625 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.625 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.625 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.626 * [backup-simplify]: Simplify (- 0) into 0 29.626 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.626 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.626 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.626 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.626 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.626 * [backup-simplify]: Simplify -0.5 into -0.5 29.626 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.626 * [backup-simplify]: Simplify phi1 into phi1 29.626 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.626 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.626 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.626 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.626 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.626 * [backup-simplify]: Simplify (- 0) into 0 29.626 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.626 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.626 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.626 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.626 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.627 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.627 * [backup-simplify]: Simplify -0.5 into -0.5 29.627 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.627 * [backup-simplify]: Simplify phi2 into phi2 29.627 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.627 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.627 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.627 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.627 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.627 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.627 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.627 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.627 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.627 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.627 * [backup-simplify]: Simplify -0.5 into -0.5 29.627 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.627 * [backup-simplify]: Simplify phi1 into phi1 29.627 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.627 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.627 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.627 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.627 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.627 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.627 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 29.627 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.627 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.627 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.627 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.627 * [backup-simplify]: Simplify -0.5 into -0.5 29.628 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.628 * [backup-simplify]: Simplify phi2 into phi2 29.628 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.628 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.628 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.628 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.628 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.628 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.628 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.628 * [backup-simplify]: Simplify -0.5 into -0.5 29.628 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.628 * [backup-simplify]: Simplify phi2 into phi2 29.628 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.628 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.628 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.628 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.628 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.628 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.628 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.628 * [backup-simplify]: Simplify -0.5 into -0.5 29.628 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.628 * [backup-simplify]: Simplify phi1 into phi1 29.628 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.628 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.628 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.628 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.628 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.628 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.629 * [backup-simplify]: Simplify -0.5 into -0.5 29.629 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.629 * [backup-simplify]: Simplify phi1 into phi1 29.629 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.629 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.629 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.629 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.629 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.629 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.629 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.629 * [backup-simplify]: Simplify -0.5 into -0.5 29.629 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.629 * [backup-simplify]: Simplify phi2 into phi2 29.629 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.629 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.629 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.629 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.629 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.629 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.629 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.629 * [backup-simplify]: Simplify -0.5 into -0.5 29.629 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.629 * [backup-simplify]: Simplify phi2 into phi2 29.630 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.630 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.630 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.630 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.630 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.630 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.630 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.630 * [backup-simplify]: Simplify -0.5 into -0.5 29.630 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.630 * [backup-simplify]: Simplify phi1 into phi1 29.630 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.630 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.630 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.630 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.630 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.631 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.631 * [backup-simplify]: Simplify -0.5 into -0.5 29.631 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.631 * [backup-simplify]: Simplify phi1 into phi1 29.631 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.631 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.631 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.632 * [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)) 29.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.632 * [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)) 29.633 * [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))) 29.633 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.633 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.638 * [backup-simplify]: Simplify (- 0) into 0 29.638 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.638 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.638 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.638 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.638 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.638 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.638 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.639 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.639 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.639 * [backup-simplify]: Simplify (- 0) into 0 29.639 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.639 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.639 * [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)))) 29.640 * [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))))) 29.640 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.640 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.640 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.640 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.640 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.640 * [backup-simplify]: Simplify (- 0) into 0 29.640 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.640 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.641 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.641 * [backup-simplify]: Simplify (- 0) into 0 29.641 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.641 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.641 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.641 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.641 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.641 * [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)))) 29.642 * [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))))) 29.642 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.642 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.644 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.645 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 29.646 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.646 * [backup-simplify]: Simplify (+ 0) into 0 29.647 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.647 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.647 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.648 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.648 * [backup-simplify]: Simplify (- 0) into 0 29.648 * [backup-simplify]: Simplify (+ 0 0) into 0 29.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.648 * [backup-simplify]: Simplify (+ 0) into 0 29.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.649 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.649 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.650 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.650 * [backup-simplify]: Simplify (- 0) into 0 29.650 * [backup-simplify]: Simplify (+ 0 0) into 0 29.650 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.651 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.651 * [backup-simplify]: Simplify (+ 0) into 0 29.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.651 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.653 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.654 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.654 * [backup-simplify]: Simplify (+ 0 0) into 0 29.654 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.654 * [backup-simplify]: Simplify (+ 0) into 0 29.655 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.655 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.656 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.656 * [backup-simplify]: Simplify (+ 0 0) into 0 29.656 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.657 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.657 * [backup-simplify]: Simplify (+ 0 0) into 0 29.657 * [backup-simplify]: Simplify (+ 0) into 0 29.658 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.658 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.659 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.659 * [backup-simplify]: Simplify (- 0) into 0 29.659 * [backup-simplify]: Simplify (+ 0 0) into 0 29.660 * [backup-simplify]: Simplify (+ 0) into 0 29.661 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.661 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.662 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.662 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.663 * [backup-simplify]: Simplify (+ 0 0) into 0 29.663 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.663 * [backup-simplify]: Simplify (+ 0) into 0 29.663 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.663 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.664 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.664 * [backup-simplify]: Simplify (+ 0 0) into 0 29.665 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.665 * [backup-simplify]: Simplify (+ 0) into 0 29.665 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.665 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.666 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.666 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.666 * [backup-simplify]: Simplify (- 0) into 0 29.667 * [backup-simplify]: Simplify (+ 0 0) into 0 29.667 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.667 * [backup-simplify]: Simplify (+ 0) into 0 29.667 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.668 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.668 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.668 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.669 * [backup-simplify]: Simplify (+ 0 0) into 0 29.669 * [backup-simplify]: Simplify (+ 0) into 0 29.670 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.670 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.671 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.671 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.672 * [backup-simplify]: Simplify (- 0) into 0 29.672 * [backup-simplify]: Simplify (+ 0 0) into 0 29.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.672 * [backup-simplify]: Simplify (+ 0) into 0 29.673 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.673 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.674 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.674 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.675 * [backup-simplify]: Simplify (- 0) into 0 29.675 * [backup-simplify]: Simplify (+ 0 0) into 0 29.675 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.676 * [backup-simplify]: Simplify (+ 0) into 0 29.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.676 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.678 * [backup-simplify]: Simplify (+ 0 0) into 0 29.678 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.679 * [backup-simplify]: Simplify (+ 0 0) into 0 29.679 * [backup-simplify]: Simplify (- 0) into 0 29.679 * [backup-simplify]: Simplify (+ 0 0) into 0 29.684 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.686 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.686 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))))) in lambda2 29.686 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 29.686 * [taylor]: Taking taylor expansion of 1/2 in lambda2 29.686 * [backup-simplify]: Simplify 1/2 into 1/2 29.686 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 29.686 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 29.686 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.686 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.686 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.686 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.686 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.686 * [backup-simplify]: Simplify -0.5 into -0.5 29.687 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.687 * [backup-simplify]: Simplify phi2 into phi2 29.687 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.687 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.687 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.687 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.687 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.687 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.687 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.687 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.687 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.687 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.687 * [backup-simplify]: Simplify -0.5 into -0.5 29.687 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.687 * [backup-simplify]: Simplify phi1 into phi1 29.687 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.687 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.688 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.688 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.688 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.688 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.688 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 29.688 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 29.688 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.688 * [backup-simplify]: Simplify phi2 into phi2 29.688 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 29.688 * [taylor]: Taking taylor expansion of R in lambda2 29.688 * [backup-simplify]: Simplify R into R 29.688 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 29.688 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 29.688 * [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 29.688 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.688 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.688 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.688 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.688 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.688 * [backup-simplify]: Simplify -0.5 into -0.5 29.688 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.689 * [backup-simplify]: Simplify phi2 into phi2 29.689 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.689 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.689 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.689 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.689 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.689 * [backup-simplify]: Simplify (- 0) into 0 29.690 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.690 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.690 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.690 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.690 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.690 * [backup-simplify]: Simplify -0.5 into -0.5 29.690 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.690 * [backup-simplify]: Simplify phi1 into phi1 29.690 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.690 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.690 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.690 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.690 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.691 * [backup-simplify]: Simplify (- 0) into 0 29.691 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.691 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.691 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.691 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.691 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.691 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.691 * [backup-simplify]: Simplify -0.5 into -0.5 29.691 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.691 * [backup-simplify]: Simplify phi2 into phi2 29.691 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.691 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.691 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.691 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.691 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.692 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.692 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.692 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.692 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.692 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.692 * [backup-simplify]: Simplify -0.5 into -0.5 29.692 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.692 * [backup-simplify]: Simplify phi1 into phi1 29.692 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.692 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.692 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.692 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.692 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 29.692 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.692 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.693 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.693 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.693 * [backup-simplify]: Simplify -0.5 into -0.5 29.693 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.693 * [backup-simplify]: Simplify phi2 into phi2 29.693 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.693 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.693 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.693 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.693 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.693 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.693 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.693 * [backup-simplify]: Simplify -0.5 into -0.5 29.693 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.693 * [backup-simplify]: Simplify phi2 into phi2 29.693 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.693 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.693 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.693 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.693 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.693 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.693 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.693 * [backup-simplify]: Simplify -0.5 into -0.5 29.693 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.694 * [backup-simplify]: Simplify phi1 into phi1 29.694 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.694 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.694 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.694 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.694 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.694 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.694 * [backup-simplify]: Simplify -0.5 into -0.5 29.694 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.694 * [backup-simplify]: Simplify phi1 into phi1 29.694 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.694 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.694 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.694 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.694 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.694 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.694 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.694 * [backup-simplify]: Simplify -0.5 into -0.5 29.694 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.694 * [backup-simplify]: Simplify phi2 into phi2 29.694 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.695 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.695 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.695 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.695 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.695 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.695 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.695 * [backup-simplify]: Simplify -0.5 into -0.5 29.695 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.695 * [backup-simplify]: Simplify phi2 into phi2 29.695 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.695 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.695 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.695 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.695 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.695 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.695 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.695 * [backup-simplify]: Simplify -0.5 into -0.5 29.695 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.695 * [backup-simplify]: Simplify phi1 into phi1 29.695 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.695 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.695 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.696 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.696 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.696 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.696 * [backup-simplify]: Simplify -0.5 into -0.5 29.696 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.696 * [backup-simplify]: Simplify phi1 into phi1 29.696 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.696 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.696 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.696 * [taylor]: Taking taylor expansion of lambda2 in lambda2 29.696 * [backup-simplify]: Simplify 0 into 0 29.696 * [backup-simplify]: Simplify 1 into 1 29.696 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.696 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.697 * [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)) 29.697 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 29.697 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.697 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.697 * [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)) 29.698 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.698 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.698 * [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)) 29.699 * [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))) 29.699 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.699 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.700 * [backup-simplify]: Simplify (- 0) into 0 29.700 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.700 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.700 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.700 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.700 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.700 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.701 * [backup-simplify]: Simplify (- 0) into 0 29.701 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.701 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.701 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.701 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.702 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.702 * [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)))) 29.702 * [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))))) 29.702 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.702 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.702 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.703 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.703 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.703 * [backup-simplify]: Simplify (- 0) into 0 29.703 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.703 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.703 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.703 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.704 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.704 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.704 * [backup-simplify]: Simplify (- 0) into 0 29.704 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.704 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.705 * [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)))) 29.705 * [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))))) 29.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.707 * [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))))))) 29.708 * [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))))))) 29.710 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 29.710 * [backup-simplify]: Simplify (* R 0) into 0 29.710 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0 29.711 * [backup-simplify]: Simplify (+ 0) into 0 29.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.712 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.713 * [backup-simplify]: Simplify (- 0) into 0 29.713 * [backup-simplify]: Simplify (+ 0 0) into 0 29.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.713 * [backup-simplify]: Simplify (+ 0) into 0 29.714 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.714 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.715 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.715 * [backup-simplify]: Simplify (- 0) into 0 29.715 * [backup-simplify]: Simplify (+ 0 0) into 0 29.715 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.716 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.716 * [backup-simplify]: Simplify (+ 0) into 0 29.716 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.716 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.717 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.717 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.717 * [backup-simplify]: Simplify (+ 0 0) into 0 29.718 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.718 * [backup-simplify]: Simplify (+ 0) into 0 29.718 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.718 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.719 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.719 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.719 * [backup-simplify]: Simplify (+ 0 0) into 0 29.719 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.720 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.720 * [backup-simplify]: Simplify (+ 0 0) into 0 29.720 * [backup-simplify]: Simplify (+ 0) into 0 29.721 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.721 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.722 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.722 * [backup-simplify]: Simplify (+ 0 0) into 0 29.722 * [backup-simplify]: Simplify (+ 0) into 0 29.722 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.723 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.723 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.723 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.724 * [backup-simplify]: Simplify (- 0) into 0 29.724 * [backup-simplify]: Simplify (+ 0 0) into 0 29.724 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.724 * [backup-simplify]: Simplify (+ 0) into 0 29.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.725 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.726 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.727 * [backup-simplify]: Simplify (+ 0 0) into 0 29.727 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.727 * [backup-simplify]: Simplify (+ 0) into 0 29.728 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.728 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.729 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.729 * [backup-simplify]: Simplify (- 0) into 0 29.729 * [backup-simplify]: Simplify (+ 0 0) into 0 29.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.730 * [backup-simplify]: Simplify (+ 0) into 0 29.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.730 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.731 * [backup-simplify]: Simplify (- 0) into 0 29.732 * [backup-simplify]: Simplify (+ 0 0) into 0 29.732 * [backup-simplify]: Simplify (+ 0) into 0 29.732 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.732 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.733 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.733 * [backup-simplify]: Simplify (+ 0 0) into 0 29.733 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.734 * [backup-simplify]: Simplify (+ 0) into 0 29.734 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.734 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.735 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.735 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.735 * [backup-simplify]: Simplify (- 0) into 0 29.735 * [backup-simplify]: Simplify (+ 0 0) into 0 29.736 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.736 * [backup-simplify]: Simplify (+ 0) into 0 29.736 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.736 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.737 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.737 * [backup-simplify]: Simplify (+ 0 0) into 0 29.738 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.738 * [backup-simplify]: Simplify (+ 0 0) into 0 29.738 * [backup-simplify]: Simplify (- 0) into 0 29.738 * [backup-simplify]: Simplify (+ 0 0) into 0 29.740 * [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))))))) 1) (* 0 0)) 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))))))) 29.742 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 29.742 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 29.743 * [backup-simplify]: Simplify (+ (* (pow phi2 2) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) 29.745 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) 29.746 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 29.746 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 29.746 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 29.746 * [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 29.746 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.746 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.746 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.746 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.746 * [backup-simplify]: Simplify -0.5 into -0.5 29.746 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.746 * [backup-simplify]: Simplify phi2 into phi2 29.746 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.746 * [backup-simplify]: Simplify (- 0) into 0 29.746 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.746 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.747 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.747 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.747 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.747 * [backup-simplify]: Simplify -0.5 into -0.5 29.747 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.747 * [backup-simplify]: Simplify phi1 into phi1 29.747 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.747 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.747 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.747 * [backup-simplify]: Simplify (- 0) into 0 29.747 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.747 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.747 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.747 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.747 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.747 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.747 * [backup-simplify]: Simplify -0.5 into -0.5 29.747 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.747 * [backup-simplify]: Simplify phi2 into phi2 29.747 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.747 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.748 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.748 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.748 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.748 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.748 * [backup-simplify]: Simplify -0.5 into -0.5 29.748 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.748 * [backup-simplify]: Simplify phi1 into phi1 29.748 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.748 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.748 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 29.748 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.748 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.748 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.748 * [backup-simplify]: Simplify -0.5 into -0.5 29.748 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.748 * [backup-simplify]: Simplify phi2 into phi2 29.748 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.749 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.749 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.749 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.749 * [backup-simplify]: Simplify -0.5 into -0.5 29.749 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.749 * [backup-simplify]: Simplify phi2 into phi2 29.749 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.749 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.749 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.749 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.749 * [backup-simplify]: Simplify -0.5 into -0.5 29.749 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.749 * [backup-simplify]: Simplify phi1 into phi1 29.749 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.749 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.749 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.749 * [backup-simplify]: Simplify -0.5 into -0.5 29.749 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.749 * [backup-simplify]: Simplify phi1 into phi1 29.749 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.749 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.749 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.749 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.749 * [backup-simplify]: Simplify -0.5 into -0.5 29.749 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.749 * [backup-simplify]: Simplify phi2 into phi2 29.749 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.750 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.750 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.750 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.750 * [backup-simplify]: Simplify -0.5 into -0.5 29.750 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.750 * [backup-simplify]: Simplify phi2 into phi2 29.750 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.750 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.750 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.750 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.750 * [backup-simplify]: Simplify -0.5 into -0.5 29.750 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.750 * [backup-simplify]: Simplify phi1 into phi1 29.750 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.750 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.750 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.750 * [backup-simplify]: Simplify -0.5 into -0.5 29.750 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.750 * [backup-simplify]: Simplify phi1 into phi1 29.750 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.751 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.751 * [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)) 29.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.751 * [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)) 29.752 * [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))) 29.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.752 * [backup-simplify]: Simplify (- 0) into 0 29.752 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.753 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.753 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.753 * [backup-simplify]: Simplify (- 0) into 0 29.753 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.753 * [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)))) 29.754 * [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))))) 29.754 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.754 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.754 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.754 * [backup-simplify]: Simplify (- 0) into 0 29.754 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.754 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.754 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.755 * [backup-simplify]: Simplify (- 0) into 0 29.755 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.755 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.755 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.755 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.755 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.755 * [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)))) 29.755 * [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))))) 29.756 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.756 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.757 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.758 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 29.759 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.760 * [backup-simplify]: Simplify (+ 0) into 0 29.760 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.760 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.761 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.767 * [backup-simplify]: Simplify (- 0) into 0 29.767 * [backup-simplify]: Simplify (+ 0 0) into 0 29.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.767 * [backup-simplify]: Simplify (+ 0) into 0 29.768 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.768 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.769 * [backup-simplify]: Simplify (- 0) into 0 29.769 * [backup-simplify]: Simplify (+ 0 0) into 0 29.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.770 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.770 * [backup-simplify]: Simplify (+ 0) into 0 29.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.770 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.771 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.771 * [backup-simplify]: Simplify (+ 0 0) into 0 29.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.772 * [backup-simplify]: Simplify (+ 0) into 0 29.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.772 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.773 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.773 * [backup-simplify]: Simplify (+ 0 0) into 0 29.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.774 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.774 * [backup-simplify]: Simplify (+ 0 0) into 0 29.774 * [backup-simplify]: Simplify (+ 0) into 0 29.775 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.775 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.775 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.776 * [backup-simplify]: Simplify (- 0) into 0 29.776 * [backup-simplify]: Simplify (+ 0 0) into 0 29.776 * [backup-simplify]: Simplify (+ 0) into 0 29.777 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.777 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.777 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.777 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.778 * [backup-simplify]: Simplify (+ 0 0) into 0 29.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.778 * [backup-simplify]: Simplify (+ 0) into 0 29.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.779 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.779 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.780 * [backup-simplify]: Simplify (+ 0 0) into 0 29.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.780 * [backup-simplify]: Simplify (+ 0) into 0 29.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.781 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.782 * [backup-simplify]: Simplify (- 0) into 0 29.782 * [backup-simplify]: Simplify (+ 0 0) into 0 29.782 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.782 * [backup-simplify]: Simplify (+ 0) into 0 29.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.783 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.784 * [backup-simplify]: Simplify (+ 0 0) into 0 29.784 * [backup-simplify]: Simplify (+ 0) into 0 29.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.784 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.785 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.786 * [backup-simplify]: Simplify (- 0) into 0 29.786 * [backup-simplify]: Simplify (+ 0 0) into 0 29.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.786 * [backup-simplify]: Simplify (+ 0) into 0 29.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.787 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.788 * [backup-simplify]: Simplify (- 0) into 0 29.788 * [backup-simplify]: Simplify (+ 0 0) into 0 29.788 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.788 * [backup-simplify]: Simplify (+ 0) into 0 29.789 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.789 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.790 * [backup-simplify]: Simplify (+ 0 0) into 0 29.790 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.790 * [backup-simplify]: Simplify (+ 0 0) into 0 29.791 * [backup-simplify]: Simplify (- 0) into 0 29.791 * [backup-simplify]: Simplify (+ 0 0) into 0 29.793 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.794 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.794 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))))) in lambda2 29.795 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in lambda2 29.795 * [taylor]: Taking taylor expansion of 1/2 in lambda2 29.795 * [backup-simplify]: Simplify 1/2 into 1/2 29.795 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 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))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in lambda2 29.795 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)))) in lambda2 29.795 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) in lambda2 29.795 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.795 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.795 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.795 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.795 * [backup-simplify]: Simplify -0.5 into -0.5 29.795 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.795 * [backup-simplify]: Simplify phi1 into phi1 29.795 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.795 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.795 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.795 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.795 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.796 * [backup-simplify]: Simplify (- 0) into 0 29.796 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.796 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.796 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.796 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.796 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.796 * [backup-simplify]: Simplify -0.5 into -0.5 29.796 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.796 * [backup-simplify]: Simplify phi2 into phi2 29.796 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.796 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.796 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.796 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.796 * [backup-simplify]: Simplify (- 0) into 0 29.796 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.796 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2))) in lambda2 29.796 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 29.796 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.796 * [backup-simplify]: Simplify phi1 into phi1 29.797 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2)) in lambda2 29.797 * [taylor]: Taking taylor expansion of R in lambda2 29.797 * [backup-simplify]: Simplify R into R 29.797 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) lambda2) in lambda2 29.797 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 29.797 * [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 29.797 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.797 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.797 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.797 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.797 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.797 * [backup-simplify]: Simplify -0.5 into -0.5 29.797 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.797 * [backup-simplify]: Simplify phi2 into phi2 29.797 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.797 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.797 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.797 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.797 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.797 * [backup-simplify]: Simplify (- 0) into 0 29.797 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.797 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.797 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.797 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.797 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.797 * [backup-simplify]: Simplify -0.5 into -0.5 29.797 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.798 * [backup-simplify]: Simplify phi1 into phi1 29.798 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.798 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.798 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.798 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.798 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.798 * [backup-simplify]: Simplify (- 0) into 0 29.798 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.798 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.798 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.798 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.798 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.798 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.798 * [backup-simplify]: Simplify -0.5 into -0.5 29.798 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.798 * [backup-simplify]: Simplify phi2 into phi2 29.798 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.798 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.798 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.798 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.799 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.799 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.799 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.799 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.799 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.799 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.799 * [backup-simplify]: Simplify -0.5 into -0.5 29.799 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.799 * [backup-simplify]: Simplify phi1 into phi1 29.799 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.799 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.799 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.799 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.799 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.799 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.799 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 29.799 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.799 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.799 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.799 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.799 * [backup-simplify]: Simplify -0.5 into -0.5 29.799 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.800 * [backup-simplify]: Simplify phi2 into phi2 29.800 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.800 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.800 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.800 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.800 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.800 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.800 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.800 * [backup-simplify]: Simplify -0.5 into -0.5 29.800 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.800 * [backup-simplify]: Simplify phi2 into phi2 29.800 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.800 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.800 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.800 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.800 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.800 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.800 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.800 * [backup-simplify]: Simplify -0.5 into -0.5 29.800 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.800 * [backup-simplify]: Simplify phi1 into phi1 29.800 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.801 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.801 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.801 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.801 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.801 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.801 * [backup-simplify]: Simplify -0.5 into -0.5 29.801 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.801 * [backup-simplify]: Simplify phi1 into phi1 29.801 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.801 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.801 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.801 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.801 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.801 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.801 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.801 * [backup-simplify]: Simplify -0.5 into -0.5 29.801 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.801 * [backup-simplify]: Simplify phi2 into phi2 29.801 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.801 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.802 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.802 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.802 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.802 * [backup-simplify]: Simplify -0.5 into -0.5 29.802 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.802 * [backup-simplify]: Simplify phi2 into phi2 29.802 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.802 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.802 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.802 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.802 * [backup-simplify]: Simplify -0.5 into -0.5 29.802 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.802 * [backup-simplify]: Simplify phi1 into phi1 29.802 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.802 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.803 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.803 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.803 * [backup-simplify]: Simplify -0.5 into -0.5 29.803 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.803 * [backup-simplify]: Simplify phi1 into phi1 29.803 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.803 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.803 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.803 * [taylor]: Taking taylor expansion of lambda2 in lambda2 29.803 * [backup-simplify]: Simplify 0 into 0 29.803 * [backup-simplify]: Simplify 1 into 1 29.803 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.803 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.804 * [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)) 29.804 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 29.804 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.804 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.805 * [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)) 29.805 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.805 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.805 * [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)) 29.806 * [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))) 29.806 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.806 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.807 * [backup-simplify]: Simplify (- 0) into 0 29.807 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.807 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.807 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.808 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.808 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.808 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.808 * [backup-simplify]: Simplify (- 0) into 0 29.808 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.809 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.809 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.809 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.809 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.809 * [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)))) 29.810 * [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))))) 29.810 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.810 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.810 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.810 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.811 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.811 * [backup-simplify]: Simplify (- 0) into 0 29.811 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.811 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.811 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.812 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.812 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.812 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.812 * [backup-simplify]: Simplify (- 0) into 0 29.812 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.813 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.813 * [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)))) 29.813 * [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))))) 29.814 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.815 * [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))))))) 29.817 * [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))))))) 29.819 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) into 0 29.820 * [backup-simplify]: Simplify (* R 0) into 0 29.820 * [backup-simplify]: Simplify (* (pow phi1 2) 0) into 0 29.820 * [backup-simplify]: Simplify (+ 0) into 0 29.821 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.821 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.822 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.822 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.823 * [backup-simplify]: Simplify (- 0) into 0 29.823 * [backup-simplify]: Simplify (+ 0 0) into 0 29.823 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.824 * [backup-simplify]: Simplify (+ 0) into 0 29.824 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.825 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.826 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.826 * [backup-simplify]: Simplify (- 0) into 0 29.827 * [backup-simplify]: Simplify (+ 0 0) into 0 29.827 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.827 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.828 * [backup-simplify]: Simplify (+ 0) into 0 29.828 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.829 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.830 * [backup-simplify]: Simplify (+ 0 0) into 0 29.831 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.831 * [backup-simplify]: Simplify (+ 0) into 0 29.832 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.832 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.833 * [backup-simplify]: Simplify (+ 0 0) into 0 29.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.834 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.834 * [backup-simplify]: Simplify (+ 0 0) into 0 29.835 * [backup-simplify]: Simplify (+ 0) into 0 29.835 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.836 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.837 * [backup-simplify]: Simplify (+ 0 0) into 0 29.837 * [backup-simplify]: Simplify (+ 0) into 0 29.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.838 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.838 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.838 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.839 * [backup-simplify]: Simplify (- 0) into 0 29.839 * [backup-simplify]: Simplify (+ 0 0) into 0 29.839 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.839 * [backup-simplify]: Simplify (+ 0) into 0 29.840 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.840 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.840 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.841 * [backup-simplify]: Simplify (+ 0 0) into 0 29.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.841 * [backup-simplify]: Simplify (+ 0) into 0 29.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.842 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.842 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.843 * [backup-simplify]: Simplify (- 0) into 0 29.843 * [backup-simplify]: Simplify (+ 0 0) into 0 29.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.844 * [backup-simplify]: Simplify (+ 0) into 0 29.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.844 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.845 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.845 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.845 * [backup-simplify]: Simplify (- 0) into 0 29.845 * [backup-simplify]: Simplify (+ 0 0) into 0 29.846 * [backup-simplify]: Simplify (+ 0) into 0 29.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.847 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.847 * [backup-simplify]: Simplify (+ 0 0) into 0 29.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.847 * [backup-simplify]: Simplify (+ 0) into 0 29.848 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.848 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.849 * [backup-simplify]: Simplify (- 0) into 0 29.849 * [backup-simplify]: Simplify (+ 0 0) into 0 29.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.850 * [backup-simplify]: Simplify (+ 0) into 0 29.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.850 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.851 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.851 * [backup-simplify]: Simplify (+ 0 0) into 0 29.851 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.852 * [backup-simplify]: Simplify (+ 0 0) into 0 29.852 * [backup-simplify]: Simplify (- 0) into 0 29.852 * [backup-simplify]: Simplify (+ 0 0) into 0 29.855 * [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))))))) 1) (* 0 0)) 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))))))) 29.858 * [backup-simplify]: Simplify (+ (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (* 0 0)) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 29.858 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 29.862 * [backup-simplify]: Simplify (+ (* (pow phi1 2) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 0 0)) into (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) 29.866 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) into (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) 29.867 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in lambda2 29.867 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in lambda2 29.867 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 29.867 * [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 29.867 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.867 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.867 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.867 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.867 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.867 * [backup-simplify]: Simplify -0.5 into -0.5 29.867 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.867 * [backup-simplify]: Simplify phi2 into phi2 29.867 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.867 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.867 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.868 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.868 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.868 * [backup-simplify]: Simplify (- 0) into 0 29.869 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.869 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.869 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.869 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.869 * [backup-simplify]: Simplify -0.5 into -0.5 29.869 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.869 * [backup-simplify]: Simplify phi1 into phi1 29.869 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.869 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.869 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.870 * [backup-simplify]: Simplify (- 0) into 0 29.870 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.870 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.870 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.870 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.870 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.870 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.870 * [backup-simplify]: Simplify -0.5 into -0.5 29.870 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.870 * [backup-simplify]: Simplify phi2 into phi2 29.870 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.870 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.871 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.871 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.871 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.871 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.871 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.871 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.871 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.871 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.871 * [backup-simplify]: Simplify -0.5 into -0.5 29.871 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.871 * [backup-simplify]: Simplify phi1 into phi1 29.871 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.871 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.872 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.872 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.872 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.872 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.872 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 29.872 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.872 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.872 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.872 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.872 * [backup-simplify]: Simplify -0.5 into -0.5 29.872 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.872 * [backup-simplify]: Simplify phi2 into phi2 29.872 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.872 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.872 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.873 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.873 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.873 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.873 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.873 * [backup-simplify]: Simplify -0.5 into -0.5 29.873 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.873 * [backup-simplify]: Simplify phi2 into phi2 29.873 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.873 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.873 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.873 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.873 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.873 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.873 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.873 * [backup-simplify]: Simplify -0.5 into -0.5 29.873 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.873 * [backup-simplify]: Simplify phi1 into phi1 29.873 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.873 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.873 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.873 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.873 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.873 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.874 * [backup-simplify]: Simplify -0.5 into -0.5 29.874 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.874 * [backup-simplify]: Simplify phi1 into phi1 29.874 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.874 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.874 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.874 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.874 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.874 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.874 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.874 * [backup-simplify]: Simplify -0.5 into -0.5 29.874 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.874 * [backup-simplify]: Simplify phi2 into phi2 29.874 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.874 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.874 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.874 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.874 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.874 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.874 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.874 * [backup-simplify]: Simplify -0.5 into -0.5 29.874 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.874 * [backup-simplify]: Simplify phi2 into phi2 29.874 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.875 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.875 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.875 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.875 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.875 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.875 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.875 * [backup-simplify]: Simplify -0.5 into -0.5 29.875 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.875 * [backup-simplify]: Simplify phi1 into phi1 29.875 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.875 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.875 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.875 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.875 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.875 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.875 * [backup-simplify]: Simplify -0.5 into -0.5 29.875 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.875 * [backup-simplify]: Simplify phi1 into phi1 29.875 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.875 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.875 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.875 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.876 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.876 * [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)) 29.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.876 * [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)) 29.877 * [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))) 29.877 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.877 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.878 * [backup-simplify]: Simplify (- 0) into 0 29.878 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.878 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.878 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.878 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.879 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.879 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.879 * [backup-simplify]: Simplify (- 0) into 0 29.879 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.880 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.880 * [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)))) 29.880 * [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))))) 29.880 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.881 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.882 * [backup-simplify]: Simplify (- 0) into 0 29.882 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.882 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.882 * [backup-simplify]: Simplify (- 0) into 0 29.882 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.883 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.883 * [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)))) 29.884 * [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))))) 29.884 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.885 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.887 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.889 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 29.891 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.892 * [backup-simplify]: Simplify (+ 0) into 0 29.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.893 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.894 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.895 * [backup-simplify]: Simplify (- 0) into 0 29.895 * [backup-simplify]: Simplify (+ 0 0) into 0 29.895 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.896 * [backup-simplify]: Simplify (+ 0) into 0 29.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.897 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.899 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.899 * [backup-simplify]: Simplify (- 0) into 0 29.900 * [backup-simplify]: Simplify (+ 0 0) into 0 29.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.901 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.901 * [backup-simplify]: Simplify (+ 0) into 0 29.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.902 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.903 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.904 * [backup-simplify]: Simplify (+ 0 0) into 0 29.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.905 * [backup-simplify]: Simplify (+ 0) into 0 29.905 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.905 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.907 * [backup-simplify]: Simplify (+ 0 0) into 0 29.908 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.908 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.909 * [backup-simplify]: Simplify (+ 0 0) into 0 29.909 * [backup-simplify]: Simplify (+ 0) into 0 29.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.910 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.911 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.912 * [backup-simplify]: Simplify (- 0) into 0 29.912 * [backup-simplify]: Simplify (+ 0 0) into 0 29.912 * [backup-simplify]: Simplify (+ 0) into 0 29.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.920 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.921 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.922 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.922 * [backup-simplify]: Simplify (+ 0 0) into 0 29.922 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.923 * [backup-simplify]: Simplify (+ 0) into 0 29.923 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.923 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.925 * [backup-simplify]: Simplify (+ 0 0) into 0 29.925 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 29.926 * [backup-simplify]: Simplify (+ 0) into 0 29.926 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.927 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.928 * [backup-simplify]: Simplify (- 0) into 0 29.929 * [backup-simplify]: Simplify (+ 0 0) into 0 29.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 29.930 * [backup-simplify]: Simplify (+ 0) into 0 29.930 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.931 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.932 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.933 * [backup-simplify]: Simplify (+ 0 0) into 0 29.933 * [backup-simplify]: Simplify (+ 0) into 0 29.934 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.934 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.935 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.935 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.936 * [backup-simplify]: Simplify (- 0) into 0 29.936 * [backup-simplify]: Simplify (+ 0 0) into 0 29.936 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.937 * [backup-simplify]: Simplify (+ 0) into 0 29.937 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.937 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.938 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.939 * [backup-simplify]: Simplify (- 0) into 0 29.940 * [backup-simplify]: Simplify (+ 0 0) into 0 29.940 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 29.940 * [backup-simplify]: Simplify (+ 0) into 0 29.941 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.941 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.944 * [backup-simplify]: Simplify (+ 0 0) into 0 29.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 29.944 * [backup-simplify]: Simplify (+ 0 0) into 0 29.945 * [backup-simplify]: Simplify (- 0) into 0 29.945 * [backup-simplify]: Simplify (+ 0 0) into 0 29.947 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.948 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 29.948 * [taylor]: Taking taylor expansion of (+ (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))))) in lambda2 29.948 * [taylor]: Taking taylor expansion of (* 4 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 29.948 * [taylor]: Taking taylor expansion of 4 in lambda2 29.948 * [backup-simplify]: Simplify 4 into 4 29.948 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 29.949 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 29.949 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) in lambda2 29.949 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2 29.949 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.949 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.949 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.949 * [backup-simplify]: Simplify -0.5 into -0.5 29.949 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.949 * [backup-simplify]: Simplify phi2 into phi2 29.949 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.949 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.949 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.949 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.949 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.949 * [backup-simplify]: Simplify (- 0) into 0 29.949 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.949 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3))) in lambda2 29.949 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2 29.950 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.950 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.950 * [backup-simplify]: Simplify -0.5 into -0.5 29.950 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.950 * [backup-simplify]: Simplify phi2 into phi2 29.950 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.950 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.950 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.950 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.950 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.950 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.950 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)) in lambda2 29.950 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2 29.950 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.950 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.950 * [backup-simplify]: Simplify -0.5 into -0.5 29.950 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.950 * [backup-simplify]: Simplify phi1 into phi1 29.950 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.950 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.950 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.950 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.950 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.950 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.950 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2 29.950 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.951 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.951 * [backup-simplify]: Simplify -0.5 into -0.5 29.951 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.951 * [backup-simplify]: Simplify phi1 into phi1 29.951 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.951 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.951 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.951 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.951 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.951 * [backup-simplify]: Simplify (- 0) into 0 29.951 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.951 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 29.951 * [taylor]: Taking taylor expansion of R in lambda2 29.951 * [backup-simplify]: Simplify R into R 29.951 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 29.951 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 29.951 * [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 29.951 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.951 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.951 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.951 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.951 * [backup-simplify]: Simplify -0.5 into -0.5 29.951 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.951 * [backup-simplify]: Simplify phi2 into phi2 29.952 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.952 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.952 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.952 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.952 * [backup-simplify]: Simplify (- 0) into 0 29.952 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.952 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.952 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.952 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.952 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.952 * [backup-simplify]: Simplify -0.5 into -0.5 29.952 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.952 * [backup-simplify]: Simplify phi1 into phi1 29.952 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.952 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.952 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.952 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.953 * [backup-simplify]: Simplify (- 0) into 0 29.953 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.953 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.953 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.953 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.953 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.953 * [backup-simplify]: Simplify -0.5 into -0.5 29.953 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.953 * [backup-simplify]: Simplify phi2 into phi2 29.953 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.953 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.953 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.953 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.953 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.953 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.953 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.953 * [backup-simplify]: Simplify -0.5 into -0.5 29.953 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.953 * [backup-simplify]: Simplify phi1 into phi1 29.954 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.954 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.954 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.954 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.954 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.954 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 29.954 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.954 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.954 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.954 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.954 * [backup-simplify]: Simplify -0.5 into -0.5 29.954 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.954 * [backup-simplify]: Simplify phi2 into phi2 29.954 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.954 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.954 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.954 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.954 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.954 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.954 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.954 * [backup-simplify]: Simplify -0.5 into -0.5 29.954 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.954 * [backup-simplify]: Simplify phi2 into phi2 29.954 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.954 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.954 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.954 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.954 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.954 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.954 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.954 * [backup-simplify]: Simplify -0.5 into -0.5 29.954 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.955 * [backup-simplify]: Simplify phi1 into phi1 29.955 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.955 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.955 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.955 * [backup-simplify]: Simplify -0.5 into -0.5 29.955 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.955 * [backup-simplify]: Simplify phi1 into phi1 29.955 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.955 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.955 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.955 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.955 * [backup-simplify]: Simplify -0.5 into -0.5 29.955 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.955 * [backup-simplify]: Simplify phi2 into phi2 29.955 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.955 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.955 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.955 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.955 * [backup-simplify]: Simplify -0.5 into -0.5 29.955 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.955 * [backup-simplify]: Simplify phi2 into phi2 29.955 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.955 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.955 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.956 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.956 * [backup-simplify]: Simplify -0.5 into -0.5 29.956 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.956 * [backup-simplify]: Simplify phi1 into phi1 29.956 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.956 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.956 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.956 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.956 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.956 * [backup-simplify]: Simplify -0.5 into -0.5 29.956 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.956 * [backup-simplify]: Simplify phi1 into phi1 29.956 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.956 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.956 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.956 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 29.956 * [taylor]: Taking taylor expansion of lambda2 in lambda2 29.956 * [backup-simplify]: Simplify 0 into 0 29.956 * [backup-simplify]: Simplify 1 into 1 29.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 29.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3) 29.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3) 29.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 29.957 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)) into (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)) 29.958 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3))) into (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3))) 29.958 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) into (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) 29.958 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.958 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.958 * [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)) 29.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.959 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.959 * [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)) 29.959 * [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))) 29.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.959 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.960 * [backup-simplify]: Simplify (- 0) into 0 29.960 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.960 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.960 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.960 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.960 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.960 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.961 * [backup-simplify]: Simplify (- 0) into 0 29.961 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.961 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.961 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.961 * [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)))) 29.961 * [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))))) 29.961 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.961 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.962 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.962 * [backup-simplify]: Simplify (- 0) into 0 29.962 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.962 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.962 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.962 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.963 * [backup-simplify]: Simplify (- 0) into 0 29.963 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.963 * [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)))) 29.963 * [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))))) 29.963 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.964 * [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))))))) 29.965 * [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))))))) 29.965 * [backup-simplify]: Simplify (* 1 1) into 1 29.966 * [backup-simplify]: Simplify (* 1 1) into 1 29.967 * [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))))))) 1) 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))))))) 29.968 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 29.969 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 29.969 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 29.969 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 29.969 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 29.969 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 29.969 * [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 29.969 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 29.969 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 29.969 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.969 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.969 * [backup-simplify]: Simplify -0.5 into -0.5 29.969 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.970 * [backup-simplify]: Simplify phi2 into phi2 29.970 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.970 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.970 * [backup-simplify]: Simplify (- 0) into 0 29.970 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.970 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 29.970 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.970 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.970 * [backup-simplify]: Simplify -0.5 into -0.5 29.970 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.970 * [backup-simplify]: Simplify phi1 into phi1 29.970 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.971 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.971 * [backup-simplify]: Simplify (- 0) into 0 29.971 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.971 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 29.971 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 29.971 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.971 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.971 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.971 * [backup-simplify]: Simplify -0.5 into -0.5 29.971 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.971 * [backup-simplify]: Simplify phi2 into phi2 29.971 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.971 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.971 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.971 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 29.972 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.972 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.972 * [backup-simplify]: Simplify -0.5 into -0.5 29.972 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.972 * [backup-simplify]: Simplify phi1 into phi1 29.972 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.972 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.972 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.972 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 29.972 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 29.972 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.972 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.972 * [backup-simplify]: Simplify -0.5 into -0.5 29.972 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.972 * [backup-simplify]: Simplify phi2 into phi2 29.972 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.972 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.972 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 29.972 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.972 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.972 * [backup-simplify]: Simplify -0.5 into -0.5 29.972 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.972 * [backup-simplify]: Simplify phi2 into phi2 29.972 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.973 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 29.973 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.973 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.973 * [backup-simplify]: Simplify -0.5 into -0.5 29.973 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.973 * [backup-simplify]: Simplify phi1 into phi1 29.973 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.973 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.973 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.973 * [backup-simplify]: Simplify -0.5 into -0.5 29.973 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.973 * [backup-simplify]: Simplify phi1 into phi1 29.973 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.973 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 29.973 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 29.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.973 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.973 * [backup-simplify]: Simplify -0.5 into -0.5 29.973 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.973 * [backup-simplify]: Simplify phi2 into phi2 29.973 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.973 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 29.973 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 29.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 29.973 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.973 * [backup-simplify]: Simplify -0.5 into -0.5 29.973 * [taylor]: Taking taylor expansion of phi2 in lambda2 29.973 * [backup-simplify]: Simplify phi2 into phi2 29.973 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 29.974 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 29.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 29.974 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 29.974 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 29.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.974 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.974 * [backup-simplify]: Simplify -0.5 into -0.5 29.974 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.974 * [backup-simplify]: Simplify phi1 into phi1 29.974 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.974 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.974 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 29.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 29.974 * [taylor]: Taking taylor expansion of -0.5 in lambda2 29.974 * [backup-simplify]: Simplify -0.5 into -0.5 29.974 * [taylor]: Taking taylor expansion of phi1 in lambda2 29.974 * [backup-simplify]: Simplify phi1 into phi1 29.974 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 29.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 29.974 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 29.974 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 29.974 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 29.975 * [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)) 29.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 29.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 29.975 * [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)) 29.975 * [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))) 29.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.976 * [backup-simplify]: Simplify (- 0) into 0 29.976 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.976 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.976 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.976 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.976 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.977 * [backup-simplify]: Simplify (- 0) into 0 29.977 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 29.977 * [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)))) 29.977 * [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))))) 29.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 29.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 29.977 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 29.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 29.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 29.978 * [backup-simplify]: Simplify (- 0) into 0 29.978 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 29.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 29.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 29.978 * [backup-simplify]: Simplify (- 0) into 0 29.978 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 29.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 29.979 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 29.979 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 29.979 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 29.979 * [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)))) 29.979 * [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))))) 29.979 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 29.980 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.981 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 29.983 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 29.985 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 29.988 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.990 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 29.990 * [backup-simplify]: Simplify (+ 0) into 0 29.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.991 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.991 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.992 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.992 * [backup-simplify]: Simplify (- 0) into 0 29.992 * [backup-simplify]: Simplify (+ 0 0) into 0 29.992 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 29.993 * [backup-simplify]: Simplify (+ 0) into 0 29.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.993 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.994 * [backup-simplify]: Simplify (- 0) into 0 29.994 * [backup-simplify]: Simplify (+ 0 0) into 0 29.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 29.995 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 29.995 * [backup-simplify]: Simplify (+ 0) into 0 29.995 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 29.995 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 29.996 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.996 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 29.997 * [backup-simplify]: Simplify (+ 0 0) into 0 29.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 29.997 * [backup-simplify]: Simplify (+ 0) into 0 29.997 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 29.997 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 29.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 29.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 29.998 * [backup-simplify]: Simplify (+ 0 0) into 0 29.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 29.999 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 29.999 * [backup-simplify]: Simplify (+ 0 0) into 0 29.999 * [backup-simplify]: Simplify (+ 0) into 0 30.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.001 * [backup-simplify]: Simplify (- 0) into 0 30.001 * [backup-simplify]: Simplify (+ 0 0) into 0 30.001 * [backup-simplify]: Simplify (+ 0) into 0 30.002 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.002 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.003 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.003 * [backup-simplify]: Simplify (+ 0 0) into 0 30.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.003 * [backup-simplify]: Simplify (+ 0) into 0 30.004 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.004 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.005 * [backup-simplify]: Simplify (+ 0 0) into 0 30.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 30.005 * [backup-simplify]: Simplify (+ 0) into 0 30.006 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.006 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.007 * [backup-simplify]: Simplify (- 0) into 0 30.007 * [backup-simplify]: Simplify (+ 0 0) into 0 30.007 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 30.008 * [backup-simplify]: Simplify (+ 0) into 0 30.008 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.008 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.009 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.009 * [backup-simplify]: Simplify (+ 0 0) into 0 30.009 * [backup-simplify]: Simplify (+ 0) into 0 30.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.010 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.011 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.011 * [backup-simplify]: Simplify (- 0) into 0 30.011 * [backup-simplify]: Simplify (+ 0 0) into 0 30.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.012 * [backup-simplify]: Simplify (+ 0) into 0 30.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.012 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.012 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.013 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.013 * [backup-simplify]: Simplify (- 0) into 0 30.013 * [backup-simplify]: Simplify (+ 0 0) into 0 30.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 30.014 * [backup-simplify]: Simplify (+ 0) into 0 30.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.014 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.015 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.015 * [backup-simplify]: Simplify (+ 0 0) into 0 30.015 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 30.016 * [backup-simplify]: Simplify (+ 0 0) into 0 30.016 * [backup-simplify]: Simplify (- 0) into 0 30.016 * [backup-simplify]: Simplify (+ 0 0) into 0 30.018 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 30.021 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 30.030 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 30.035 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 30.035 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))))) in lambda2 30.036 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 30.036 * [taylor]: Taking taylor expansion of 1/2 in lambda2 30.036 * [backup-simplify]: Simplify 1/2 into 1/2 30.036 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 30.036 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 30.036 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) in lambda2 30.036 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.036 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.036 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.036 * [backup-simplify]: Simplify -0.5 into -0.5 30.036 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.036 * [backup-simplify]: Simplify phi1 into phi1 30.036 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.036 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.036 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.036 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5))) in lambda2 30.037 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 5) in lambda2 30.037 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.037 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.037 * [backup-simplify]: Simplify -0.5 into -0.5 30.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.037 * [backup-simplify]: Simplify phi1 into phi1 30.037 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.037 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.037 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.037 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.037 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.037 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.037 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)) in lambda2 30.037 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.037 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.037 * [backup-simplify]: Simplify -0.5 into -0.5 30.037 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.038 * [backup-simplify]: Simplify phi2 into phi2 30.038 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.038 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.038 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.038 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 5) in lambda2 30.038 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.038 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.038 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.038 * [backup-simplify]: Simplify -0.5 into -0.5 30.038 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.038 * [backup-simplify]: Simplify phi2 into phi2 30.038 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.038 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.038 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.038 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.038 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.039 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.039 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 30.039 * [taylor]: Taking taylor expansion of R in lambda2 30.039 * [backup-simplify]: Simplify R into R 30.039 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 30.039 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 30.039 * [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 30.039 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 30.039 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 30.039 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.039 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.039 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.039 * [backup-simplify]: Simplify -0.5 into -0.5 30.039 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.039 * [backup-simplify]: Simplify phi2 into phi2 30.039 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.039 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.039 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.039 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.040 * [backup-simplify]: Simplify (- 0) into 0 30.040 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.040 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 30.040 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.040 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.040 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.040 * [backup-simplify]: Simplify -0.5 into -0.5 30.040 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.040 * [backup-simplify]: Simplify phi1 into phi1 30.040 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.040 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.041 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.041 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.041 * [backup-simplify]: Simplify (- 0) into 0 30.041 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.041 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 30.041 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 30.041 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.041 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.041 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.041 * [backup-simplify]: Simplify -0.5 into -0.5 30.041 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.041 * [backup-simplify]: Simplify phi2 into phi2 30.041 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.041 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.041 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.041 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.041 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.041 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.042 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 30.042 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.042 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.042 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.042 * [backup-simplify]: Simplify -0.5 into -0.5 30.042 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.042 * [backup-simplify]: Simplify phi1 into phi1 30.042 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.042 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.042 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.042 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.042 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.042 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.042 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 30.042 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 30.042 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.042 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.042 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.042 * [backup-simplify]: Simplify -0.5 into -0.5 30.042 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.042 * [backup-simplify]: Simplify phi2 into phi2 30.042 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.042 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.042 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.042 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 30.042 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.042 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.042 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.042 * [backup-simplify]: Simplify -0.5 into -0.5 30.042 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.042 * [backup-simplify]: Simplify phi2 into phi2 30.042 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.042 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.043 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.043 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 30.043 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.043 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.043 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.043 * [backup-simplify]: Simplify -0.5 into -0.5 30.043 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.043 * [backup-simplify]: Simplify phi1 into phi1 30.043 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.043 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.043 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.043 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.043 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.043 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.043 * [backup-simplify]: Simplify -0.5 into -0.5 30.043 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.043 * [backup-simplify]: Simplify phi1 into phi1 30.043 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.043 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.043 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.043 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 30.043 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.043 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.043 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.043 * [backup-simplify]: Simplify -0.5 into -0.5 30.043 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.043 * [backup-simplify]: Simplify phi2 into phi2 30.043 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.043 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.043 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.043 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 30.043 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.043 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.043 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.043 * [backup-simplify]: Simplify -0.5 into -0.5 30.043 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.043 * [backup-simplify]: Simplify phi2 into phi2 30.044 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.044 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.044 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.044 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 30.044 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.044 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.044 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.044 * [backup-simplify]: Simplify -0.5 into -0.5 30.044 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.044 * [backup-simplify]: Simplify phi1 into phi1 30.044 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.044 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.044 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.044 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.044 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.044 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.044 * [backup-simplify]: Simplify -0.5 into -0.5 30.044 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.044 * [backup-simplify]: Simplify phi1 into phi1 30.044 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.044 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.044 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.044 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 30.044 * [taylor]: Taking taylor expansion of lambda2 in lambda2 30.044 * [backup-simplify]: Simplify 0 into 0 30.044 * [backup-simplify]: Simplify 1 into 1 30.044 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.044 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.049 * [backup-simplify]: Simplify (- 0) into 0 30.050 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.050 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 30.050 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 4) 30.050 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 4)) into (pow (sin (/ -0.5 phi1)) 5) 30.050 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.050 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.051 * [backup-simplify]: Simplify (- 0) into 0 30.051 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.051 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 30.051 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 4) 30.051 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 4)) into (pow (sin (/ -0.5 phi2)) 5) 30.051 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)) into (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)) 30.052 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5))) into (* (pow (sin (/ -0.5 phi2)) 5) (* (pow (sin (/ -0.5 phi1)) 5) (cos (/ -0.5 phi2)))) 30.052 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 5) (* (pow (sin (/ -0.5 phi1)) 5) (cos (/ -0.5 phi2))))) into (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (cos (/ -0.5 phi2))))) 30.052 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 30.052 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 30.053 * [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)) 30.053 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 30.053 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 30.053 * [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)) 30.054 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 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))) 30.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.054 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.054 * [backup-simplify]: Simplify (- 0) into 0 30.054 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.054 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.054 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.054 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.055 * [backup-simplify]: Simplify (- 0) into 0 30.055 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.055 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.055 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.055 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.055 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 30.055 * [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)))) 30.055 * [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))))) 30.056 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.056 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.056 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.056 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.056 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.056 * [backup-simplify]: Simplify (- 0) into 0 30.056 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.056 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.056 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.056 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.056 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.057 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.057 * [backup-simplify]: Simplify (- 0) into 0 30.057 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.057 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 30.057 * [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)))) 30.057 * [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))))) 30.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 30.058 * [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))))))) 30.059 * [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))))))) 30.060 * [backup-simplify]: Simplify (* 1 1) into 1 30.060 * [backup-simplify]: Simplify (* 1 1) into 1 30.061 * [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))))))) 1) 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))))))) 30.062 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 30.063 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (cos (/ -0.5 phi2))))) (* (- (+ (* (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))))))) R)) into (/ (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 30.063 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 30.064 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 30.064 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 30.064 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 30.064 * [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 30.064 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 30.064 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 30.064 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.064 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.064 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.064 * [backup-simplify]: Simplify -0.5 into -0.5 30.064 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.064 * [backup-simplify]: Simplify phi2 into phi2 30.064 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.064 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.064 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.064 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.065 * [backup-simplify]: Simplify (- 0) into 0 30.065 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.065 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 30.065 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.065 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.065 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.065 * [backup-simplify]: Simplify -0.5 into -0.5 30.065 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.065 * [backup-simplify]: Simplify phi1 into phi1 30.065 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.065 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.065 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.065 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.065 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.065 * [backup-simplify]: Simplify (- 0) into 0 30.065 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.065 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 30.065 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 30.065 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.065 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.065 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.065 * [backup-simplify]: Simplify -0.5 into -0.5 30.065 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.065 * [backup-simplify]: Simplify phi2 into phi2 30.066 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.066 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.066 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.066 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.066 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.066 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.066 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 30.066 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.066 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.066 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.066 * [backup-simplify]: Simplify -0.5 into -0.5 30.066 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.066 * [backup-simplify]: Simplify phi1 into phi1 30.066 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.066 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.066 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.066 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.066 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.066 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.066 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 30.066 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 30.066 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.066 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.066 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.066 * [backup-simplify]: Simplify -0.5 into -0.5 30.066 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.066 * [backup-simplify]: Simplify phi2 into phi2 30.066 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.067 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.067 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.067 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 30.067 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.067 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.067 * [backup-simplify]: Simplify -0.5 into -0.5 30.067 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.067 * [backup-simplify]: Simplify phi2 into phi2 30.067 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.067 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.067 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.067 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 30.067 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.067 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.067 * [backup-simplify]: Simplify -0.5 into -0.5 30.067 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.067 * [backup-simplify]: Simplify phi1 into phi1 30.067 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.067 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.067 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.067 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.067 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.067 * [backup-simplify]: Simplify -0.5 into -0.5 30.067 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.067 * [backup-simplify]: Simplify phi1 into phi1 30.067 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.067 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.067 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.067 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 30.067 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.067 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.067 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.067 * [backup-simplify]: Simplify -0.5 into -0.5 30.067 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.067 * [backup-simplify]: Simplify phi2 into phi2 30.068 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.068 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 30.068 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.068 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.068 * [backup-simplify]: Simplify -0.5 into -0.5 30.068 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.068 * [backup-simplify]: Simplify phi2 into phi2 30.068 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.068 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 30.068 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.068 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.068 * [backup-simplify]: Simplify -0.5 into -0.5 30.068 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.068 * [backup-simplify]: Simplify phi1 into phi1 30.068 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.068 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.068 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.068 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.068 * [backup-simplify]: Simplify -0.5 into -0.5 30.068 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.068 * [backup-simplify]: Simplify phi1 into phi1 30.068 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.068 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.068 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.069 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 30.069 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 30.069 * [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)) 30.069 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 30.069 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 30.069 * [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)) 30.070 * [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))) 30.070 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.070 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.070 * [backup-simplify]: Simplify (- 0) into 0 30.070 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.070 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.071 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.071 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.071 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.071 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.071 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.071 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.071 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.071 * [backup-simplify]: Simplify (- 0) into 0 30.071 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.071 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 30.072 * [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)))) 30.072 * [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))))) 30.072 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.072 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.072 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.072 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.072 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.072 * [backup-simplify]: Simplify (- 0) into 0 30.072 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.072 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.073 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.073 * [backup-simplify]: Simplify (- 0) into 0 30.073 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.073 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.073 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.073 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.073 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 30.073 * [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)))) 30.074 * [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))))) 30.074 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 30.074 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 30.076 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 30.078 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 30.080 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 30.084 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 30.089 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 30.089 * [backup-simplify]: Simplify (+ 0) into 0 30.090 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.090 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.091 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.091 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.092 * [backup-simplify]: Simplify (- 0) into 0 30.092 * [backup-simplify]: Simplify (+ 0 0) into 0 30.092 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.093 * [backup-simplify]: Simplify (+ 0) into 0 30.093 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.093 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.094 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.094 * [backup-simplify]: Simplify (- 0) into 0 30.094 * [backup-simplify]: Simplify (+ 0 0) into 0 30.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 30.095 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 30.095 * [backup-simplify]: Simplify (+ 0) into 0 30.095 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.095 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.096 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.096 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.096 * [backup-simplify]: Simplify (+ 0 0) into 0 30.097 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.097 * [backup-simplify]: Simplify (+ 0) into 0 30.097 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.097 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.098 * [backup-simplify]: Simplify (+ 0 0) into 0 30.098 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 30.099 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 30.099 * [backup-simplify]: Simplify (+ 0 0) into 0 30.099 * [backup-simplify]: Simplify (+ 0) into 0 30.100 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.100 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.100 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.101 * [backup-simplify]: Simplify (- 0) into 0 30.101 * [backup-simplify]: Simplify (+ 0 0) into 0 30.101 * [backup-simplify]: Simplify (+ 0) into 0 30.102 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.102 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.103 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.103 * [backup-simplify]: Simplify (+ 0 0) into 0 30.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.103 * [backup-simplify]: Simplify (+ 0) into 0 30.104 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.104 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.105 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.105 * [backup-simplify]: Simplify (+ 0 0) into 0 30.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 30.106 * [backup-simplify]: Simplify (+ 0) into 0 30.106 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.106 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.107 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.107 * [backup-simplify]: Simplify (- 0) into 0 30.107 * [backup-simplify]: Simplify (+ 0 0) into 0 30.108 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 30.108 * [backup-simplify]: Simplify (+ 0) into 0 30.108 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.108 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.109 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.110 * [backup-simplify]: Simplify (+ 0 0) into 0 30.110 * [backup-simplify]: Simplify (+ 0) into 0 30.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.111 * [backup-simplify]: Simplify (- 0) into 0 30.112 * [backup-simplify]: Simplify (+ 0 0) into 0 30.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.112 * [backup-simplify]: Simplify (+ 0) into 0 30.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.112 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.113 * [backup-simplify]: Simplify (- 0) into 0 30.114 * [backup-simplify]: Simplify (+ 0 0) into 0 30.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 30.114 * [backup-simplify]: Simplify (+ 0) into 0 30.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.116 * [backup-simplify]: Simplify (+ 0 0) into 0 30.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 30.116 * [backup-simplify]: Simplify (+ 0 0) into 0 30.116 * [backup-simplify]: Simplify (- 0) into 0 30.117 * [backup-simplify]: Simplify (+ 0 0) into 0 30.119 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 30.121 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 30.126 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 30.129 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 30.129 * [taylor]: Taking taylor expansion of (* 3/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))))) in lambda2 30.129 * [taylor]: Taking taylor expansion of 3/2 in lambda2 30.129 * [backup-simplify]: Simplify 3/2 into 3/2 30.129 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)))) in lambda2 30.129 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)))) in lambda2 30.129 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) in lambda2 30.129 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in lambda2 30.129 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.129 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.129 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.129 * [backup-simplify]: Simplify -0.5 into -0.5 30.129 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.129 * [backup-simplify]: Simplify phi2 into phi2 30.129 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.129 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.129 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.130 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.130 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.130 * [backup-simplify]: Simplify (- 0) into 0 30.130 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.130 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3))) in lambda2 30.130 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in lambda2 30.130 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.130 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.130 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.130 * [backup-simplify]: Simplify -0.5 into -0.5 30.130 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.130 * [backup-simplify]: Simplify phi1 into phi1 30.130 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.130 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.131 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.131 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.131 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.131 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.131 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) in lambda2 30.131 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in lambda2 30.131 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.131 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.131 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.131 * [backup-simplify]: Simplify -0.5 into -0.5 30.131 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.131 * [backup-simplify]: Simplify phi2 into phi2 30.131 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.131 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.131 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.131 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.131 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.131 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.131 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in lambda2 30.131 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.131 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.131 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.131 * [backup-simplify]: Simplify -0.5 into -0.5 30.131 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.131 * [backup-simplify]: Simplify phi1 into phi1 30.131 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.131 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.131 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.132 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.132 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.132 * [backup-simplify]: Simplify (- 0) into 0 30.132 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.132 * [taylor]: Taking taylor expansion of (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3))) in lambda2 30.132 * [taylor]: Taking taylor expansion of R in lambda2 30.132 * [backup-simplify]: Simplify R into R 30.132 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (pow lambda2 3)) in lambda2 30.132 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda2 30.132 * [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 30.132 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 30.132 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 30.132 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.132 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.132 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.132 * [backup-simplify]: Simplify -0.5 into -0.5 30.132 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.132 * [backup-simplify]: Simplify phi2 into phi2 30.132 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.132 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.132 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.133 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.133 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.133 * [backup-simplify]: Simplify (- 0) into 0 30.133 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.133 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 30.133 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.133 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.133 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.133 * [backup-simplify]: Simplify -0.5 into -0.5 30.133 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.133 * [backup-simplify]: Simplify phi1 into phi1 30.133 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.133 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.133 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.133 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.133 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.134 * [backup-simplify]: Simplify (- 0) into 0 30.134 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.134 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 30.134 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 30.134 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.134 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.134 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.134 * [backup-simplify]: Simplify -0.5 into -0.5 30.134 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.134 * [backup-simplify]: Simplify phi2 into phi2 30.134 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.134 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.134 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.134 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.134 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.134 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.134 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 30.134 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.134 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.134 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.134 * [backup-simplify]: Simplify -0.5 into -0.5 30.134 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.134 * [backup-simplify]: Simplify phi1 into phi1 30.134 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.135 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.135 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.135 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.135 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.135 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.135 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda2 30.135 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 30.135 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.135 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.135 * [backup-simplify]: Simplify -0.5 into -0.5 30.135 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.135 * [backup-simplify]: Simplify phi2 into phi2 30.135 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.135 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.135 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.135 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 30.135 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.135 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.135 * [backup-simplify]: Simplify -0.5 into -0.5 30.135 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.135 * [backup-simplify]: Simplify phi2 into phi2 30.135 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.135 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.135 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.135 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 30.135 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.135 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.135 * [backup-simplify]: Simplify -0.5 into -0.5 30.135 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.136 * [backup-simplify]: Simplify phi1 into phi1 30.136 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.136 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.136 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.136 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.136 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.136 * [backup-simplify]: Simplify -0.5 into -0.5 30.136 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.136 * [backup-simplify]: Simplify phi1 into phi1 30.136 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.136 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.136 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 30.136 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.136 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.136 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.136 * [backup-simplify]: Simplify -0.5 into -0.5 30.136 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.136 * [backup-simplify]: Simplify phi2 into phi2 30.136 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.136 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.136 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 30.136 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.136 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.136 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.136 * [backup-simplify]: Simplify -0.5 into -0.5 30.136 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.136 * [backup-simplify]: Simplify phi2 into phi2 30.136 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.136 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.136 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 30.136 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.136 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.137 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.137 * [backup-simplify]: Simplify -0.5 into -0.5 30.137 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.137 * [backup-simplify]: Simplify phi1 into phi1 30.137 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.137 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.137 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.137 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.137 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.137 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.137 * [backup-simplify]: Simplify -0.5 into -0.5 30.137 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.137 * [backup-simplify]: Simplify phi1 into phi1 30.137 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.137 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.137 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.137 * [taylor]: Taking taylor expansion of (pow lambda2 3) in lambda2 30.137 * [taylor]: Taking taylor expansion of lambda2 in lambda2 30.137 * [backup-simplify]: Simplify 0 into 0 30.137 * [backup-simplify]: Simplify 1 into 1 30.137 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 30.137 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 30.137 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 30.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3) 30.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 30.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3) 30.138 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 30.138 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 30.138 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) into (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) 30.139 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3))) into (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3))) 30.139 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) into (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) 30.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 30.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 30.139 * [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)) 30.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 30.140 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 30.140 * [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)) 30.140 * [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))) 30.140 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.140 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.141 * [backup-simplify]: Simplify (- 0) into 0 30.141 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.141 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.141 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.141 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.141 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.141 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.141 * [backup-simplify]: Simplify (- 0) into 0 30.142 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.142 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.142 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.142 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.142 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 30.142 * [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)))) 30.142 * [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))))) 30.142 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.142 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.142 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.142 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.143 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.143 * [backup-simplify]: Simplify (- 0) into 0 30.143 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.143 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.143 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.143 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.143 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.143 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.143 * [backup-simplify]: Simplify (- 0) into 0 30.144 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.144 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 30.144 * [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)))) 30.144 * [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))))) 30.144 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 30.145 * [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))))))) 30.146 * [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))))))) 30.146 * [backup-simplify]: Simplify (* 1 1) into 1 30.147 * [backup-simplify]: Simplify (* 1 1) into 1 30.148 * [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))))))) 1) 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))))))) 30.149 * [backup-simplify]: Simplify (* R (- (+ (* (pow (cos (/ -0.5 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))) (+ (* (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))))))) R) 30.150 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))) R)) into (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) 30.150 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3))) in lambda2 30.150 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3)) in lambda2 30.150 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 3) in lambda2 30.150 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in lambda2 30.150 * [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 30.150 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2 30.150 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2 30.150 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.151 * [backup-simplify]: Simplify -0.5 into -0.5 30.151 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.151 * [backup-simplify]: Simplify phi2 into phi2 30.151 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.151 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.151 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.151 * [backup-simplify]: Simplify (- 0) into 0 30.151 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.151 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2 30.151 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.151 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.151 * [backup-simplify]: Simplify -0.5 into -0.5 30.151 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.151 * [backup-simplify]: Simplify phi1 into phi1 30.151 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.152 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.152 * [backup-simplify]: Simplify (- 0) into 0 30.152 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.152 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2 30.152 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2 30.152 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.152 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.152 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.152 * [backup-simplify]: Simplify -0.5 into -0.5 30.152 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.152 * [backup-simplify]: Simplify phi2 into phi2 30.152 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.152 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.152 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.152 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.152 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2 30.153 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.153 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.153 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.153 * [backup-simplify]: Simplify -0.5 into -0.5 30.153 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.153 * [backup-simplify]: Simplify phi1 into phi1 30.153 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.153 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.153 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.153 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.153 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.153 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.153 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in lambda2 30.153 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2 30.153 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.153 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.153 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.153 * [backup-simplify]: Simplify -0.5 into -0.5 30.153 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.153 * [backup-simplify]: Simplify phi2 into phi2 30.153 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.153 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.153 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.153 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2 30.153 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.154 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.154 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.154 * [backup-simplify]: Simplify -0.5 into -0.5 30.154 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.154 * [backup-simplify]: Simplify phi2 into phi2 30.154 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.154 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.154 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.154 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2 30.154 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.154 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.154 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.154 * [backup-simplify]: Simplify -0.5 into -0.5 30.154 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.154 * [backup-simplify]: Simplify phi1 into phi1 30.154 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.154 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.154 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.154 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.154 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.154 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.154 * [backup-simplify]: Simplify -0.5 into -0.5 30.154 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.154 * [backup-simplify]: Simplify phi1 into phi1 30.154 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.154 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.154 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.154 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2 30.154 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2 30.154 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.154 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.154 * [backup-simplify]: Simplify -0.5 into -0.5 30.154 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.154 * [backup-simplify]: Simplify phi2 into phi2 30.154 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.154 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.154 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.155 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2 30.155 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2 30.155 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2 30.155 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.155 * [backup-simplify]: Simplify -0.5 into -0.5 30.155 * [taylor]: Taking taylor expansion of phi2 in lambda2 30.155 * [backup-simplify]: Simplify phi2 into phi2 30.155 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 30.155 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 30.155 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 30.155 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2 30.155 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2 30.155 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.155 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.155 * [backup-simplify]: Simplify -0.5 into -0.5 30.155 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.155 * [backup-simplify]: Simplify phi1 into phi1 30.155 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.155 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.155 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.155 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2 30.155 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2 30.155 * [taylor]: Taking taylor expansion of -0.5 in lambda2 30.155 * [backup-simplify]: Simplify -0.5 into -0.5 30.155 * [taylor]: Taking taylor expansion of phi1 in lambda2 30.155 * [backup-simplify]: Simplify phi1 into phi1 30.155 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 30.155 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 30.155 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 30.155 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 30.155 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 30.156 * [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)) 30.156 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 30.156 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 30.156 * [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)) 30.157 * [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))) 30.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.157 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.157 * [backup-simplify]: Simplify (- 0) into 0 30.157 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.157 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.157 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.158 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.158 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.158 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.158 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.158 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.158 * [backup-simplify]: Simplify (- 0) into 0 30.158 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.158 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 30.158 * [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)))) 30.159 * [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))))) 30.159 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 30.159 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 30.159 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 30.159 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 30.159 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 30.159 * [backup-simplify]: Simplify (- 0) into 0 30.159 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 30.159 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 30.159 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 30.160 * [backup-simplify]: Simplify (- 0) into 0 30.160 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 30.160 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 30.160 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 30.160 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 30.160 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 30.161 * [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)))) 30.161 * [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))))) 30.162 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 30.163 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 30.165 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 30.170 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) 30.174 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 30.185 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 30.190 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 30.192 * [backup-simplify]: Simplify (+ 0) into 0 30.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.192 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.194 * [backup-simplify]: Simplify (- 0) into 0 30.195 * [backup-simplify]: Simplify (+ 0 0) into 0 30.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.195 * [backup-simplify]: Simplify (+ 0) into 0 30.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.196 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.198 * [backup-simplify]: Simplify (- 0) into 0 30.198 * [backup-simplify]: Simplify (+ 0 0) into 0 30.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 30.199 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 30.200 * [backup-simplify]: Simplify (+ 0) into 0 30.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.203 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.204 * [backup-simplify]: Simplify (+ 0 0) into 0 30.204 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.204 * [backup-simplify]: Simplify (+ 0) into 0 30.205 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.205 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.207 * [backup-simplify]: Simplify (+ 0 0) into 0 30.207 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 30.208 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 30.208 * [backup-simplify]: Simplify (+ 0 0) into 0 30.209 * [backup-simplify]: Simplify (+ 0) into 0 30.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.209 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.211 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.211 * [backup-simplify]: Simplify (- 0) into 0 30.211 * [backup-simplify]: Simplify (+ 0 0) into 0 30.212 * [backup-simplify]: Simplify (+ 0) into 0 30.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.212 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.214 * [backup-simplify]: Simplify (+ 0 0) into 0 30.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.215 * [backup-simplify]: Simplify (+ 0) into 0 30.215 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.215 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.217 * [backup-simplify]: Simplify (+ 0 0) into 0 30.217 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 30.218 * [backup-simplify]: Simplify (+ 0) into 0 30.218 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.219 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.220 * [backup-simplify]: Simplify (- 0) into 0 30.221 * [backup-simplify]: Simplify (+ 0 0) into 0 30.221 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 30.222 * [backup-simplify]: Simplify (+ 0) into 0 30.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.222 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.224 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.224 * [backup-simplify]: Simplify (+ 0 0) into 0 30.224 * [backup-simplify]: Simplify (+ 0) into 0 30.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.225 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.226 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.227 * [backup-simplify]: Simplify (- 0) into 0 30.227 * [backup-simplify]: Simplify (+ 0 0) into 0 30.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.227 * [backup-simplify]: Simplify (+ 0) into 0 30.228 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.228 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.229 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.230 * [backup-simplify]: Simplify (- 0) into 0 30.230 * [backup-simplify]: Simplify (+ 0 0) into 0 30.230 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 30.231 * [backup-simplify]: Simplify (+ 0) into 0 30.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.231 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.232 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.233 * [backup-simplify]: Simplify (+ 0 0) into 0 30.233 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 30.233 * [backup-simplify]: Simplify (+ 0 0) into 0 30.234 * [backup-simplify]: Simplify (- 0) into 0 30.234 * [backup-simplify]: Simplify (+ 0 0) into 0 30.238 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 30.241 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0 30.250 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 30.255 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 30.256 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.257 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.257 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.258 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.259 * [backup-simplify]: Simplify (- 0) into 0 30.259 * [backup-simplify]: Simplify (+ 0 0) into 0 30.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.261 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.261 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.262 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.262 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.263 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.263 * [backup-simplify]: Simplify (- 0) into 0 30.264 * [backup-simplify]: Simplify (+ 0 0) into 0 30.264 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 30.265 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 30.266 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.267 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.268 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.268 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.269 * [backup-simplify]: Simplify (+ 0 0) into 0 30.269 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.270 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.271 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.271 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.272 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.273 * [backup-simplify]: Simplify (+ 0 0) into 0 30.273 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 30.274 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 30.275 * [backup-simplify]: Simplify (+ 0 0) into 0 30.275 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.276 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.277 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.278 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.278 * [backup-simplify]: Simplify (- 0) into 0 30.278 * [backup-simplify]: Simplify (+ 0 0) into 0 30.279 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.280 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.281 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.281 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.282 * [backup-simplify]: Simplify (+ 0 0) into 0 30.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.283 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.284 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.285 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.286 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.286 * [backup-simplify]: Simplify (+ 0 0) into 0 30.287 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 30.288 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.288 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.289 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.289 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.290 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.290 * [backup-simplify]: Simplify (- 0) into 0 30.291 * [backup-simplify]: Simplify (+ 0 0) into 0 30.292 * [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 30.293 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.294 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.294 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.295 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.295 * [backup-simplify]: Simplify (+ 0 0) into 0 30.296 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.297 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.298 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.299 * [backup-simplify]: Simplify (- 0) into 0 30.300 * [backup-simplify]: Simplify (+ 0 0) into 0 30.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.301 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.302 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.302 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.303 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.304 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.304 * [backup-simplify]: Simplify (- 0) into 0 30.305 * [backup-simplify]: Simplify (+ 0 0) into 0 30.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 30.306 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.307 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.307 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.308 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.308 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.309 * [backup-simplify]: Simplify (+ 0 0) into 0 30.309 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 30.309 * [backup-simplify]: Simplify (+ 0 0) into 0 30.310 * [backup-simplify]: Simplify (- 0) into 0 30.310 * [backup-simplify]: Simplify (+ 0 0) into 0 30.313 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 30.315 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 30.316 * [backup-simplify]: Simplify (+ 0) into 0 30.316 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.316 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.317 * [backup-simplify]: Simplify (- 0) into 0 30.318 * [backup-simplify]: Simplify (+ 0 0) into 0 30.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 30.318 * [backup-simplify]: Simplify (+ 0) into 0 30.318 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.319 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.319 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.320 * [backup-simplify]: Simplify (+ 0 0) into 0 30.320 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 3))) into 0 30.320 * [backup-simplify]: Simplify (+ 0) into 0 30.320 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.321 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.321 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.322 * [backup-simplify]: Simplify (+ 0 0) into 0 30.322 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) into 0 30.322 * [backup-simplify]: Simplify (+ 0) into 0 30.322 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.323 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.323 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.323 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.324 * [backup-simplify]: Simplify (- 0) into 0 30.324 * [backup-simplify]: Simplify (+ 0 0) into 0 30.324 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 30.324 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 30.324 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 30.325 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 30.325 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 30.326 * [backup-simplify]: Simplify (+ 0) into 0 30.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.326 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.327 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.327 * [backup-simplify]: Simplify (- 0) into 0 30.327 * [backup-simplify]: Simplify (+ 0 0) into 0 30.327 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.328 * [backup-simplify]: Simplify (+ 0) into 0 30.328 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.328 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.329 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.329 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.329 * [backup-simplify]: Simplify (- 0) into 0 30.334 * [backup-simplify]: Simplify (+ 0 0) into 0 30.335 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 30.335 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 30.335 * [backup-simplify]: Simplify (+ 0) into 0 30.336 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.336 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.337 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.337 * [backup-simplify]: Simplify (+ 0 0) into 0 30.337 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.337 * [backup-simplify]: Simplify (+ 0) into 0 30.338 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.338 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.339 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.339 * [backup-simplify]: Simplify (+ 0 0) into 0 30.339 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 30.339 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 30.340 * [backup-simplify]: Simplify (+ 0 0) into 0 30.340 * [backup-simplify]: Simplify (+ 0) into 0 30.340 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.340 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.341 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.341 * [backup-simplify]: Simplify (+ 0 0) into 0 30.342 * [backup-simplify]: Simplify (+ 0) into 0 30.342 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.342 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.343 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.343 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.343 * [backup-simplify]: Simplify (- 0) into 0 30.343 * [backup-simplify]: Simplify (+ 0 0) into 0 30.343 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.344 * [backup-simplify]: Simplify (+ 0) into 0 30.344 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.344 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.345 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.345 * [backup-simplify]: Simplify (+ 0 0) into 0 30.345 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 30.346 * [backup-simplify]: Simplify (+ 0) into 0 30.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.346 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.347 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.347 * [backup-simplify]: Simplify (- 0) into 0 30.347 * [backup-simplify]: Simplify (+ 0 0) into 0 30.348 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 30.348 * [backup-simplify]: Simplify (+ 0) into 0 30.348 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.348 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.350 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.350 * [backup-simplify]: Simplify (- 0) into 0 30.350 * [backup-simplify]: Simplify (+ 0 0) into 0 30.351 * [backup-simplify]: Simplify (+ 0) into 0 30.351 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.353 * [backup-simplify]: Simplify (+ 0 0) into 0 30.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.353 * [backup-simplify]: Simplify (+ 0) into 0 30.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.354 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.355 * [backup-simplify]: Simplify (- 0) into 0 30.355 * [backup-simplify]: Simplify (+ 0 0) into 0 30.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 30.355 * [backup-simplify]: Simplify (+ 0) into 0 30.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.356 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.357 * [backup-simplify]: Simplify (+ 0 0) into 0 30.357 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 30.357 * [backup-simplify]: Simplify (+ 0 0) into 0 30.358 * [backup-simplify]: Simplify (- 0) into 0 30.358 * [backup-simplify]: Simplify (+ 0 0) into 0 30.359 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 30.360 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 30.364 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 30.365 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.365 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.365 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.366 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.366 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.367 * [backup-simplify]: Simplify (- 0) into 0 30.367 * [backup-simplify]: Simplify (+ 0 0) into 0 30.367 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.368 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 30.368 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.369 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.369 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.369 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.370 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.370 * [backup-simplify]: Simplify (+ 0 0) into 0 30.370 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 3)))) into 0 30.371 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.371 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.372 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.372 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.372 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.373 * [backup-simplify]: Simplify (+ 0 0) into 0 30.373 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3))))) into 0 30.374 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.374 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.374 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.375 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.375 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.375 * [backup-simplify]: Simplify (- 0) into 0 30.376 * [backup-simplify]: Simplify (+ 0 0) into 0 30.376 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 30.376 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 30.377 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into 0 30.378 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 30.378 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 30.379 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.379 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.380 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.380 * [backup-simplify]: Simplify (- 0) into 0 30.381 * [backup-simplify]: Simplify (+ 0 0) into 0 30.381 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.382 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.382 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.382 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.383 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.383 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.384 * [backup-simplify]: Simplify (- 0) into 0 30.384 * [backup-simplify]: Simplify (+ 0 0) into 0 30.384 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 30.385 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 30.385 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.386 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.386 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.386 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.387 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.387 * [backup-simplify]: Simplify (+ 0 0) into 0 30.387 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.388 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.389 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.389 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.390 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.390 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.391 * [backup-simplify]: Simplify (+ 0 0) into 0 30.391 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 30.392 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 30.392 * [backup-simplify]: Simplify (+ 0 0) into 0 30.393 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.394 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.394 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.395 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.396 * [backup-simplify]: Simplify (+ 0 0) into 0 30.397 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.398 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.399 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.400 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.400 * [backup-simplify]: Simplify (- 0) into 0 30.400 * [backup-simplify]: Simplify (+ 0 0) into 0 30.401 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.402 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.403 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.404 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.405 * [backup-simplify]: Simplify (+ 0 0) into 0 30.405 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 30.406 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.407 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.408 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.409 * [backup-simplify]: Simplify (- 0) into 0 30.410 * [backup-simplify]: Simplify (+ 0 0) into 0 30.410 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 30.411 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.412 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.412 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.413 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.413 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.413 * [backup-simplify]: Simplify (- 0) into 0 30.414 * [backup-simplify]: Simplify (+ 0 0) into 0 30.414 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.415 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.415 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.415 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.416 * [backup-simplify]: Simplify (+ 0 0) into 0 30.416 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.417 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.418 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.418 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.419 * [backup-simplify]: Simplify (- 0) into 0 30.419 * [backup-simplify]: Simplify (+ 0 0) into 0 30.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 30.420 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.420 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.421 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.421 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.422 * [backup-simplify]: Simplify (+ 0 0) into 0 30.422 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 30.422 * [backup-simplify]: Simplify (+ 0 0) into 0 30.423 * [backup-simplify]: Simplify (- 0) into 0 30.423 * [backup-simplify]: Simplify (+ 0 0) into 0 30.424 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 30.426 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 30.430 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 30.434 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 30.436 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 30.439 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 30.442 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 30.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.449 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.449 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.450 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.451 * [backup-simplify]: Simplify (- 0) into 0 30.451 * [backup-simplify]: Simplify (+ 0 0) into 0 30.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.452 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.453 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.453 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.453 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.454 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.454 * [backup-simplify]: Simplify (- 0) into 0 30.454 * [backup-simplify]: Simplify (+ 0 0) into 0 30.455 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 30.455 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 30.456 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.456 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.457 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.458 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.458 * [backup-simplify]: Simplify (+ 0 0) into 0 30.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.459 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.459 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.459 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.460 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.460 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.461 * [backup-simplify]: Simplify (+ 0 0) into 0 30.461 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 30.461 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 30.462 * [backup-simplify]: Simplify (+ 0 0) into 0 30.462 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.463 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.463 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.463 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.464 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.464 * [backup-simplify]: Simplify (- 0) into 0 30.464 * [backup-simplify]: Simplify (+ 0 0) into 0 30.465 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.466 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.466 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.466 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.467 * [backup-simplify]: Simplify (+ 0 0) into 0 30.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.468 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.468 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.469 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.469 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.470 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.470 * [backup-simplify]: Simplify (+ 0 0) into 0 30.470 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 30.471 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.471 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.471 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.473 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.473 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.473 * [backup-simplify]: Simplify (- 0) into 0 30.474 * [backup-simplify]: Simplify (+ 0 0) into 0 30.474 * [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 30.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.475 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.475 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.476 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.476 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.477 * [backup-simplify]: Simplify (+ 0 0) into 0 30.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.478 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.478 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.478 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.479 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.479 * [backup-simplify]: Simplify (- 0) into 0 30.479 * [backup-simplify]: Simplify (+ 0 0) into 0 30.480 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.480 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.481 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.481 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.482 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.482 * [backup-simplify]: Simplify (- 0) into 0 30.483 * [backup-simplify]: Simplify (+ 0 0) into 0 30.483 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 30.484 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.484 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.484 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.485 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.485 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.485 * [backup-simplify]: Simplify (+ 0 0) into 0 30.486 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 30.486 * [backup-simplify]: Simplify (+ 0 0) into 0 30.487 * [backup-simplify]: Simplify (- 0) into 0 30.487 * [backup-simplify]: Simplify (+ 0 0) into 0 30.490 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 30.492 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 30.493 * [backup-simplify]: Simplify (+ 0) into 0 30.493 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.493 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.495 * [backup-simplify]: Simplify (+ 0 0) into 0 30.495 * [backup-simplify]: Simplify (+ 0) into 0 30.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.495 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.496 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.497 * [backup-simplify]: Simplify (+ 0 0) into 0 30.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 30.497 * [backup-simplify]: Simplify (+ 0) into 0 30.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.498 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.498 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.499 * [backup-simplify]: Simplify (- 0) into 0 30.499 * [backup-simplify]: Simplify (+ 0 0) into 0 30.499 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 30.499 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 30.500 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 30.500 * [backup-simplify]: Simplify (+ 0) into 0 30.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.500 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.501 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.501 * [backup-simplify]: Simplify (- 0) into 0 30.502 * [backup-simplify]: Simplify (+ 0 0) into 0 30.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 30.502 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1)))))) into 0 30.503 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 30.503 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 30.504 * [backup-simplify]: Simplify (+ 0) into 0 30.504 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.504 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.505 * [backup-simplify]: Simplify (- 0) into 0 30.506 * [backup-simplify]: Simplify (+ 0 0) into 0 30.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.506 * [backup-simplify]: Simplify (+ 0) into 0 30.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.506 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.508 * [backup-simplify]: Simplify (- 0) into 0 30.508 * [backup-simplify]: Simplify (+ 0 0) into 0 30.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 30.508 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 30.509 * [backup-simplify]: Simplify (+ 0) into 0 30.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.510 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.510 * [backup-simplify]: Simplify (+ 0 0) into 0 30.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.511 * [backup-simplify]: Simplify (+ 0) into 0 30.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.511 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.512 * [backup-simplify]: Simplify (+ 0 0) into 0 30.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 30.513 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 30.513 * [backup-simplify]: Simplify (+ 0 0) into 0 30.513 * [backup-simplify]: Simplify (+ 0) into 0 30.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.514 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.515 * [backup-simplify]: Simplify (+ 0 0) into 0 30.515 * [backup-simplify]: Simplify (+ 0) into 0 30.516 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.516 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.519 * [backup-simplify]: Simplify (- 0) into 0 30.519 * [backup-simplify]: Simplify (+ 0 0) into 0 30.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.519 * [backup-simplify]: Simplify (+ 0) into 0 30.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.520 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.521 * [backup-simplify]: Simplify (+ 0 0) into 0 30.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 30.522 * [backup-simplify]: Simplify (+ 0) into 0 30.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.522 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.523 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.523 * [backup-simplify]: Simplify (- 0) into 0 30.524 * [backup-simplify]: Simplify (+ 0 0) into 0 30.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 30.524 * [backup-simplify]: Simplify (+ 0) into 0 30.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.525 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.526 * [backup-simplify]: Simplify (- 0) into 0 30.526 * [backup-simplify]: Simplify (+ 0 0) into 0 30.526 * [backup-simplify]: Simplify (+ 0) into 0 30.527 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.527 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.528 * [backup-simplify]: Simplify (+ 0 0) into 0 30.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.528 * [backup-simplify]: Simplify (+ 0) into 0 30.529 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.529 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.530 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.530 * [backup-simplify]: Simplify (- 0) into 0 30.530 * [backup-simplify]: Simplify (+ 0 0) into 0 30.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 30.531 * [backup-simplify]: Simplify (+ 0) into 0 30.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.531 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.532 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.532 * [backup-simplify]: Simplify (+ 0 0) into 0 30.532 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 30.533 * [backup-simplify]: Simplify (+ 0 0) into 0 30.533 * [backup-simplify]: Simplify (- 0) into 0 30.533 * [backup-simplify]: Simplify (+ 0 0) into 0 30.534 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 30.536 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 30.540 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 30.540 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.541 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.541 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.542 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.542 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.542 * [backup-simplify]: Simplify (+ 0 0) into 0 30.543 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.543 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.543 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.544 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.544 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.544 * [backup-simplify]: Simplify (+ 0 0) into 0 30.545 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 30.545 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.546 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.546 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.546 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.547 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.547 * [backup-simplify]: Simplify (- 0) into 0 30.547 * [backup-simplify]: Simplify (+ 0 0) into 0 30.548 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 30.548 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 30.549 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 30.549 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.550 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.550 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.550 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.551 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.551 * [backup-simplify]: Simplify (- 0) into 0 30.551 * [backup-simplify]: Simplify (+ 0 0) into 0 30.551 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.558 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 30.558 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))))) into 0 30.559 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 30.560 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 30.560 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.561 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.561 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.562 * [backup-simplify]: Simplify (- 0) into 0 30.562 * [backup-simplify]: Simplify (+ 0 0) into 0 30.563 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.563 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.564 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.564 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.564 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.565 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.566 * [backup-simplify]: Simplify (- 0) into 0 30.566 * [backup-simplify]: Simplify (+ 0 0) into 0 30.567 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 30.568 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 30.569 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.570 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.570 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.571 * [backup-simplify]: Simplify (+ 0 0) into 0 30.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.573 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.574 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.575 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.575 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.576 * [backup-simplify]: Simplify (+ 0 0) into 0 30.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 30.577 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 30.577 * [backup-simplify]: Simplify (+ 0 0) into 0 30.578 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.579 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.580 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.581 * [backup-simplify]: Simplify (+ 0 0) into 0 30.582 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.584 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.585 * [backup-simplify]: Simplify (- 0) into 0 30.586 * [backup-simplify]: Simplify (+ 0 0) into 0 30.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.587 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.589 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.590 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.590 * [backup-simplify]: Simplify (+ 0 0) into 0 30.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 30.592 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.593 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.593 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.594 * [backup-simplify]: Simplify (- 0) into 0 30.595 * [backup-simplify]: Simplify (+ 0 0) into 0 30.596 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 30.597 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.597 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.598 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.598 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.599 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.599 * [backup-simplify]: Simplify (- 0) into 0 30.600 * [backup-simplify]: Simplify (+ 0 0) into 0 30.601 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.602 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.602 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.603 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.603 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.604 * [backup-simplify]: Simplify (+ 0 0) into 0 30.604 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.605 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.606 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.606 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.607 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.608 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.608 * [backup-simplify]: Simplify (- 0) into 0 30.609 * [backup-simplify]: Simplify (+ 0 0) into 0 30.609 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 30.610 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.611 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.611 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.612 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.613 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.613 * [backup-simplify]: Simplify (+ 0 0) into 0 30.614 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 30.614 * [backup-simplify]: Simplify (+ 0 0) into 0 30.615 * [backup-simplify]: Simplify (- 0) into 0 30.615 * [backup-simplify]: Simplify (+ 0 0) into 0 30.618 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 30.620 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 30.631 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 30.637 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 30.642 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 30.647 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 30.654 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 30.655 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.656 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.656 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.657 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.658 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.658 * [backup-simplify]: Simplify (- 0) into 0 30.659 * [backup-simplify]: Simplify (+ 0 0) into 0 30.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.660 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.661 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.661 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.662 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.663 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.663 * [backup-simplify]: Simplify (- 0) into 0 30.664 * [backup-simplify]: Simplify (+ 0 0) into 0 30.664 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 30.665 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 30.666 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.667 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.667 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.668 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.669 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.669 * [backup-simplify]: Simplify (+ 0 0) into 0 30.669 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.670 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.671 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.672 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.672 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.673 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.673 * [backup-simplify]: Simplify (+ 0 0) into 0 30.674 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 30.675 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 30.675 * [backup-simplify]: Simplify (+ 0 0) into 0 30.676 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.677 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.678 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.679 * [backup-simplify]: Simplify (- 0) into 0 30.679 * [backup-simplify]: Simplify (+ 0 0) into 0 30.680 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.681 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.681 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.682 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.683 * [backup-simplify]: Simplify (+ 0 0) into 0 30.684 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.685 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.685 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.687 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.688 * [backup-simplify]: Simplify (+ 0 0) into 0 30.688 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 30.689 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.690 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.691 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.692 * [backup-simplify]: Simplify (- 0) into 0 30.692 * [backup-simplify]: Simplify (+ 0 0) into 0 30.693 * [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 30.694 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.696 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.697 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.697 * [backup-simplify]: Simplify (+ 0 0) into 0 30.698 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.699 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.700 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.701 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.701 * [backup-simplify]: Simplify (- 0) into 0 30.702 * [backup-simplify]: Simplify (+ 0 0) into 0 30.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.703 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.704 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.705 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.706 * [backup-simplify]: Simplify (- 0) into 0 30.707 * [backup-simplify]: Simplify (+ 0 0) into 0 30.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 30.708 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.709 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.709 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.710 * [backup-simplify]: Simplify (+ 0 0) into 0 30.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 30.710 * [backup-simplify]: Simplify (+ 0 0) into 0 30.711 * [backup-simplify]: Simplify (- 0) into 0 30.711 * [backup-simplify]: Simplify (+ 0 0) into 0 30.713 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 30.723 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 30.736 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 30.741 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 30.742 * [backup-simplify]: Simplify (+ 0) into 0 30.742 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.743 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.743 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.744 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.744 * [backup-simplify]: Simplify (+ 0 0) into 0 30.744 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 30.745 * [backup-simplify]: Simplify (+ 0) into 0 30.745 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.746 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.747 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.747 * [backup-simplify]: Simplify (+ 0 0) into 0 30.748 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.748 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 30.748 * [backup-simplify]: Simplify (+ 0) into 0 30.749 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.749 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.750 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.750 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.751 * [backup-simplify]: Simplify (- 0) into 0 30.751 * [backup-simplify]: Simplify (+ 0 0) into 0 30.751 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.752 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 30.752 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 4) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) into 0 30.753 * [backup-simplify]: Simplify (+ 0) into 0 30.753 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.754 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.754 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.755 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.755 * [backup-simplify]: Simplify (- 0) into 0 30.756 * [backup-simplify]: Simplify (+ 0 0) into 0 30.756 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 30.756 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 30.757 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2))))) into 0 30.758 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 30.758 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 30.759 * [backup-simplify]: Simplify (+ 0) into 0 30.759 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.759 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.760 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.761 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.761 * [backup-simplify]: Simplify (- 0) into 0 30.761 * [backup-simplify]: Simplify (+ 0 0) into 0 30.761 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.762 * [backup-simplify]: Simplify (+ 0) into 0 30.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.762 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.764 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.764 * [backup-simplify]: Simplify (- 0) into 0 30.764 * [backup-simplify]: Simplify (+ 0 0) into 0 30.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 30.765 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 30.765 * [backup-simplify]: Simplify (+ 0) into 0 30.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.766 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.768 * [backup-simplify]: Simplify (+ 0 0) into 0 30.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.768 * [backup-simplify]: Simplify (+ 0) into 0 30.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.770 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.770 * [backup-simplify]: Simplify (+ 0 0) into 0 30.771 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 30.771 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 30.771 * [backup-simplify]: Simplify (+ 0 0) into 0 30.772 * [backup-simplify]: Simplify (+ 0) into 0 30.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.773 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.773 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.774 * [backup-simplify]: Simplify (+ 0 0) into 0 30.775 * [backup-simplify]: Simplify (+ 0) into 0 30.775 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.775 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.776 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.776 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.777 * [backup-simplify]: Simplify (- 0) into 0 30.777 * [backup-simplify]: Simplify (+ 0 0) into 0 30.777 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.778 * [backup-simplify]: Simplify (+ 0) into 0 30.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.778 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.779 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.780 * [backup-simplify]: Simplify (+ 0 0) into 0 30.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 30.781 * [backup-simplify]: Simplify (+ 0) into 0 30.781 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.781 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.782 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.783 * [backup-simplify]: Simplify (- 0) into 0 30.783 * [backup-simplify]: Simplify (+ 0 0) into 0 30.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 30.784 * [backup-simplify]: Simplify (+ 0) into 0 30.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.785 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.785 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.786 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.786 * [backup-simplify]: Simplify (- 0) into 0 30.787 * [backup-simplify]: Simplify (+ 0 0) into 0 30.787 * [backup-simplify]: Simplify (+ 0) into 0 30.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.788 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.789 * [backup-simplify]: Simplify (+ 0 0) into 0 30.789 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.790 * [backup-simplify]: Simplify (+ 0) into 0 30.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.790 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.791 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.792 * [backup-simplify]: Simplify (- 0) into 0 30.792 * [backup-simplify]: Simplify (+ 0 0) into 0 30.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 30.793 * [backup-simplify]: Simplify (+ 0) into 0 30.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.794 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.795 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.796 * [backup-simplify]: Simplify (+ 0 0) into 0 30.796 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 30.797 * [backup-simplify]: Simplify (+ 0 0) into 0 30.797 * [backup-simplify]: Simplify (- 0) into 0 30.797 * [backup-simplify]: Simplify (+ 0 0) into 0 30.800 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 30.802 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 30.807 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 30.808 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.808 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.809 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.809 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.809 * [backup-simplify]: Simplify (+ 0 0) into 0 30.810 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 30.810 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.811 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.812 * [backup-simplify]: Simplify (+ 0 0) into 0 30.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.813 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 30.813 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.814 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.814 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.815 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.815 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.815 * [backup-simplify]: Simplify (- 0) into 0 30.815 * [backup-simplify]: Simplify (+ 0 0) into 0 30.816 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.816 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 30.817 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))))) into 0 30.818 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.818 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.818 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.819 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.819 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.819 * [backup-simplify]: Simplify (- 0) into 0 30.820 * [backup-simplify]: Simplify (+ 0 0) into 0 30.820 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 30.821 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 30.821 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))))) into 0 30.822 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 30.822 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 30.823 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.823 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.824 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.824 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.825 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.825 * [backup-simplify]: Simplify (- 0) into 0 30.825 * [backup-simplify]: Simplify (+ 0 0) into 0 30.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.826 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.827 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.827 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.827 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.828 * [backup-simplify]: Simplify (- 0) into 0 30.828 * [backup-simplify]: Simplify (+ 0 0) into 0 30.828 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 30.829 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 30.829 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.830 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.830 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.831 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.831 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.831 * [backup-simplify]: Simplify (+ 0 0) into 0 30.832 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.832 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.833 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.833 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.833 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.834 * [backup-simplify]: Simplify (+ 0 0) into 0 30.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 30.835 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 30.835 * [backup-simplify]: Simplify (+ 0 0) into 0 30.836 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.836 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.836 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.837 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.837 * [backup-simplify]: Simplify (+ 0 0) into 0 30.838 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.838 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.839 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.839 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.840 * [backup-simplify]: Simplify (- 0) into 0 30.840 * [backup-simplify]: Simplify (+ 0 0) into 0 30.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.841 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.842 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.842 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.843 * [backup-simplify]: Simplify (+ 0 0) into 0 30.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 30.844 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.844 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.845 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.845 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.845 * [backup-simplify]: Simplify (- 0) into 0 30.846 * [backup-simplify]: Simplify (+ 0 0) into 0 30.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 30.847 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.847 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.848 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.848 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.848 * [backup-simplify]: Simplify (- 0) into 0 30.849 * [backup-simplify]: Simplify (+ 0 0) into 0 30.855 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.856 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.856 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.857 * [backup-simplify]: Simplify (+ 0 0) into 0 30.858 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.858 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.859 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.859 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.859 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.860 * [backup-simplify]: Simplify (- 0) into 0 30.860 * [backup-simplify]: Simplify (+ 0 0) into 0 30.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 30.861 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.863 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.863 * [backup-simplify]: Simplify (+ 0 0) into 0 30.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 30.864 * [backup-simplify]: Simplify (+ 0 0) into 0 30.864 * [backup-simplify]: Simplify (- 0) into 0 30.864 * [backup-simplify]: Simplify (+ 0 0) into 0 30.866 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 30.867 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 30.872 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 30.876 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 30.880 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 30.884 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 30.890 * [backup-simplify]: Simplify (+ (* 7/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 30.891 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.893 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.893 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.894 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.895 * [backup-simplify]: Simplify (- 0) into 0 30.895 * [backup-simplify]: Simplify (+ 0 0) into 0 30.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.897 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.898 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.898 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.899 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.899 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.900 * [backup-simplify]: Simplify (- 0) into 0 30.900 * [backup-simplify]: Simplify (+ 0 0) into 0 30.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 30.902 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 30.903 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.904 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.905 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.905 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.906 * [backup-simplify]: Simplify (+ 0 0) into 0 30.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.908 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.909 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.910 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.911 * [backup-simplify]: Simplify (+ 0 0) into 0 30.912 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 30.912 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 30.913 * [backup-simplify]: Simplify (+ 0 0) into 0 30.914 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.915 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.915 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.916 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.916 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.917 * [backup-simplify]: Simplify (- 0) into 0 30.917 * [backup-simplify]: Simplify (+ 0 0) into 0 30.918 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.919 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.920 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.921 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.921 * [backup-simplify]: Simplify (+ 0 0) into 0 30.922 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 30.923 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.924 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.925 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.926 * [backup-simplify]: Simplify (+ 0 0) into 0 30.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 30.927 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.928 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.928 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.929 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.930 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.930 * [backup-simplify]: Simplify (- 0) into 0 30.931 * [backup-simplify]: Simplify (+ 0 0) into 0 30.931 * [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 30.932 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.933 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.933 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.934 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.935 * [backup-simplify]: Simplify (+ 0 0) into 0 30.936 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.937 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 30.937 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 30.938 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 30.939 * [backup-simplify]: Simplify (- 0) into 0 30.939 * [backup-simplify]: Simplify (+ 0 0) into 0 30.940 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 30.941 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.942 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.942 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.943 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.943 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.944 * [backup-simplify]: Simplify (- 0) into 0 30.944 * [backup-simplify]: Simplify (+ 0 0) into 0 30.944 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 30.945 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 30.945 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 30.946 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 30.946 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 30.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 30.947 * [backup-simplify]: Simplify (+ 0 0) into 0 30.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 30.947 * [backup-simplify]: Simplify (+ 0 0) into 0 30.948 * [backup-simplify]: Simplify (- 0) into 0 30.948 * [backup-simplify]: Simplify (+ 0 0) into 0 30.951 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 30.953 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 30.953 * [backup-simplify]: Simplify (+ 0) into 0 30.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.954 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.955 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.955 * [backup-simplify]: Simplify (- 0) into 0 30.955 * [backup-simplify]: Simplify (+ 0 0) into 0 30.955 * [backup-simplify]: Simplify (+ 0) into 0 30.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.956 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.956 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.956 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.957 * [backup-simplify]: Simplify (+ 0 0) into 0 30.957 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.957 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 30.957 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 30.958 * [backup-simplify]: Simplify (+ 0) into 0 30.958 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.958 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.959 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.959 * [backup-simplify]: Simplify (- 0) into 0 30.959 * [backup-simplify]: Simplify (+ 0 0) into 0 30.959 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) into 0 30.960 * [backup-simplify]: Simplify (+ 0) into 0 30.960 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.960 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.961 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.961 * [backup-simplify]: Simplify (+ 0 0) into 0 30.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 30.962 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 30.962 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))) into 0 30.962 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 30.963 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 30.963 * [backup-simplify]: Simplify (+ 0) into 0 30.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.964 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.964 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.965 * [backup-simplify]: Simplify (- 0) into 0 30.965 * [backup-simplify]: Simplify (+ 0 0) into 0 30.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.965 * [backup-simplify]: Simplify (+ 0) into 0 30.966 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.966 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.966 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.967 * [backup-simplify]: Simplify (- 0) into 0 30.967 * [backup-simplify]: Simplify (+ 0 0) into 0 30.967 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 30.967 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 30.968 * [backup-simplify]: Simplify (+ 0) into 0 30.968 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.968 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.969 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.969 * [backup-simplify]: Simplify (+ 0 0) into 0 30.970 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.970 * [backup-simplify]: Simplify (+ 0) into 0 30.970 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.970 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.971 * [backup-simplify]: Simplify (+ 0 0) into 0 30.971 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 30.972 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 30.972 * [backup-simplify]: Simplify (+ 0 0) into 0 30.972 * [backup-simplify]: Simplify (+ 0) into 0 30.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.973 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.974 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.974 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.975 * [backup-simplify]: Simplify (+ 0 0) into 0 30.982 * [backup-simplify]: Simplify (+ 0) into 0 30.983 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.983 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.984 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.984 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.985 * [backup-simplify]: Simplify (- 0) into 0 30.985 * [backup-simplify]: Simplify (+ 0 0) into 0 30.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 30.986 * [backup-simplify]: Simplify (+ 0) into 0 30.986 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.986 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.988 * [backup-simplify]: Simplify (+ 0 0) into 0 30.988 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 30.989 * [backup-simplify]: Simplify (+ 0) into 0 30.989 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.989 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 30.990 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.991 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 30.991 * [backup-simplify]: Simplify (- 0) into 0 30.991 * [backup-simplify]: Simplify (+ 0 0) into 0 30.992 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 30.992 * [backup-simplify]: Simplify (+ 0) into 0 30.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.993 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.995 * [backup-simplify]: Simplify (- 0) into 0 30.995 * [backup-simplify]: Simplify (+ 0 0) into 0 30.995 * [backup-simplify]: Simplify (+ 0) into 0 30.996 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 30.996 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 30.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 30.997 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 30.998 * [backup-simplify]: Simplify (+ 0 0) into 0 30.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 30.998 * [backup-simplify]: Simplify (+ 0) into 0 30.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 30.999 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.000 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.001 * [backup-simplify]: Simplify (- 0) into 0 31.001 * [backup-simplify]: Simplify (+ 0 0) into 0 31.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 31.002 * [backup-simplify]: Simplify (+ 0) into 0 31.002 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.003 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.004 * [backup-simplify]: Simplify (+ 0 0) into 0 31.004 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 31.005 * [backup-simplify]: Simplify (+ 0 0) into 0 31.005 * [backup-simplify]: Simplify (- 0) into 0 31.005 * [backup-simplify]: Simplify (+ 0 0) into 0 31.007 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 31.008 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 31.011 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 31.012 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.013 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.013 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.014 * [backup-simplify]: Simplify (- 0) into 0 31.014 * [backup-simplify]: Simplify (+ 0 0) into 0 31.015 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.015 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.015 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.016 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.016 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.016 * [backup-simplify]: Simplify (+ 0 0) into 0 31.017 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.017 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.018 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.018 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.019 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.019 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.019 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.020 * [backup-simplify]: Simplify (- 0) into 0 31.020 * [backup-simplify]: Simplify (+ 0 0) into 0 31.021 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2)))))) into 0 31.021 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.022 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.022 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.022 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.023 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.023 * [backup-simplify]: Simplify (+ 0 0) into 0 31.023 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.024 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 31.024 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))))) into 0 31.025 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 31.026 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 31.026 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.027 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.027 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.027 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.028 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.028 * [backup-simplify]: Simplify (- 0) into 0 31.028 * [backup-simplify]: Simplify (+ 0 0) into 0 31.028 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.029 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.029 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.030 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.030 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.030 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.031 * [backup-simplify]: Simplify (- 0) into 0 31.031 * [backup-simplify]: Simplify (+ 0 0) into 0 31.031 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.032 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.032 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.033 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.034 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.034 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.034 * [backup-simplify]: Simplify (+ 0 0) into 0 31.034 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.035 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.036 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.036 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.037 * [backup-simplify]: Simplify (+ 0 0) into 0 31.038 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.038 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.039 * [backup-simplify]: Simplify (+ 0 0) into 0 31.039 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.040 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.040 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.040 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.041 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.041 * [backup-simplify]: Simplify (+ 0 0) into 0 31.041 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.042 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.043 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.043 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.044 * [backup-simplify]: Simplify (- 0) into 0 31.044 * [backup-simplify]: Simplify (+ 0 0) into 0 31.044 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.045 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.046 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.046 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.046 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.047 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.047 * [backup-simplify]: Simplify (+ 0 0) into 0 31.048 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 31.049 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.049 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.049 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.050 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.051 * [backup-simplify]: Simplify (- 0) into 0 31.051 * [backup-simplify]: Simplify (+ 0 0) into 0 31.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 31.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.053 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.053 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.054 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.055 * [backup-simplify]: Simplify (- 0) into 0 31.055 * [backup-simplify]: Simplify (+ 0 0) into 0 31.055 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.056 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.057 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.057 * [backup-simplify]: Simplify (+ 0 0) into 0 31.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.058 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.059 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.060 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.060 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.060 * [backup-simplify]: Simplify (- 0) into 0 31.061 * [backup-simplify]: Simplify (+ 0 0) into 0 31.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 31.062 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.062 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.063 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.063 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.063 * [backup-simplify]: Simplify (+ 0 0) into 0 31.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 31.064 * [backup-simplify]: Simplify (+ 0 0) into 0 31.064 * [backup-simplify]: Simplify (- 0) into 0 31.064 * [backup-simplify]: Simplify (+ 0 0) into 0 31.066 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 31.067 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 31.072 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 31.075 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 31.078 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 31.080 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (cos (/ -0.5 phi1))))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 31.084 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (cos (/ -0.5 phi1))))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 31.085 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.085 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.085 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.086 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.086 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.086 * [backup-simplify]: Simplify (- 0) into 0 31.087 * [backup-simplify]: Simplify (+ 0 0) into 0 31.087 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.088 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.089 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.096 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.097 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.098 * [backup-simplify]: Simplify (- 0) into 0 31.098 * [backup-simplify]: Simplify (+ 0 0) into 0 31.099 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.099 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.100 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.101 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.101 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.102 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.102 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.103 * [backup-simplify]: Simplify (+ 0 0) into 0 31.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.104 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.105 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.106 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.106 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.107 * [backup-simplify]: Simplify (+ 0 0) into 0 31.107 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.108 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.108 * [backup-simplify]: Simplify (+ 0 0) into 0 31.109 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.111 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.112 * [backup-simplify]: Simplify (- 0) into 0 31.112 * [backup-simplify]: Simplify (+ 0 0) into 0 31.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.114 * [backup-simplify]: Simplify (+ 0 0) into 0 31.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.115 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.116 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.117 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.117 * [backup-simplify]: Simplify (+ 0 0) into 0 31.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 31.118 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.119 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.120 * [backup-simplify]: Simplify (- 0) into 0 31.120 * [backup-simplify]: Simplify (+ 0 0) into 0 31.121 * [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 31.121 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.122 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.122 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.123 * [backup-simplify]: Simplify (+ 0 0) into 0 31.124 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.124 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.125 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.126 * [backup-simplify]: Simplify (- 0) into 0 31.126 * [backup-simplify]: Simplify (+ 0 0) into 0 31.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.128 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.129 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.130 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.130 * [backup-simplify]: Simplify (- 0) into 0 31.131 * [backup-simplify]: Simplify (+ 0 0) into 0 31.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 31.132 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.133 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.134 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.135 * [backup-simplify]: Simplify (+ 0 0) into 0 31.136 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 31.136 * [backup-simplify]: Simplify (+ 0 0) into 0 31.136 * [backup-simplify]: Simplify (- 0) into 0 31.137 * [backup-simplify]: Simplify (+ 0 0) into 0 31.141 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 31.145 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 31.157 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 31.162 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 31.163 * [backup-simplify]: Simplify (+ 0) into 0 31.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.163 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.164 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.165 * [backup-simplify]: Simplify (- 0) into 0 31.165 * [backup-simplify]: Simplify (+ 0 0) into 0 31.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 31.165 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (pow (cos (/ -0.5 phi1)) 3))) into 0 31.166 * [backup-simplify]: Simplify (+ 0) into 0 31.166 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.166 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.167 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.167 * [backup-simplify]: Simplify (- 0) into 0 31.167 * [backup-simplify]: Simplify (+ 0 0) into 0 31.168 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 31.168 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 31.168 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (pow (cos (/ -0.5 phi2)) 3))) into 0 31.168 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 6) 0) (* 0 (pow (cos (/ -0.5 phi1)) 6))) into 0 31.169 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 31.169 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 31.170 * [backup-simplify]: Simplify (+ 0) into 0 31.170 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.170 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.172 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.172 * [backup-simplify]: Simplify (- 0) into 0 31.173 * [backup-simplify]: Simplify (+ 0 0) into 0 31.173 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.173 * [backup-simplify]: Simplify (+ 0) into 0 31.174 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.174 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.175 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.175 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.175 * [backup-simplify]: Simplify (- 0) into 0 31.176 * [backup-simplify]: Simplify (+ 0 0) into 0 31.176 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 31.176 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 31.177 * [backup-simplify]: Simplify (+ 0) into 0 31.177 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.177 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.179 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.179 * [backup-simplify]: Simplify (+ 0 0) into 0 31.179 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 31.180 * [backup-simplify]: Simplify (+ 0) into 0 31.180 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.180 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.182 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.182 * [backup-simplify]: Simplify (+ 0 0) into 0 31.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 31.183 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 31.183 * [backup-simplify]: Simplify (+ 0 0) into 0 31.183 * [backup-simplify]: Simplify (+ 0) into 0 31.184 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.184 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.185 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.186 * [backup-simplify]: Simplify (+ 0 0) into 0 31.186 * [backup-simplify]: Simplify (+ 0) into 0 31.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.188 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.188 * [backup-simplify]: Simplify (- 0) into 0 31.189 * [backup-simplify]: Simplify (+ 0 0) into 0 31.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 31.189 * [backup-simplify]: Simplify (+ 0) into 0 31.190 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.190 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.191 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.191 * [backup-simplify]: Simplify (+ 0 0) into 0 31.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 31.192 * [backup-simplify]: Simplify (+ 0) into 0 31.193 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.193 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.194 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.194 * [backup-simplify]: Simplify (- 0) into 0 31.195 * [backup-simplify]: Simplify (+ 0 0) into 0 31.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 31.196 * [backup-simplify]: Simplify (+ 0) into 0 31.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.196 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.198 * [backup-simplify]: Simplify (- 0) into 0 31.198 * [backup-simplify]: Simplify (+ 0 0) into 0 31.199 * [backup-simplify]: Simplify (+ 0) into 0 31.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.199 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.200 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.201 * [backup-simplify]: Simplify (+ 0 0) into 0 31.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.201 * [backup-simplify]: Simplify (+ 0) into 0 31.202 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.202 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.203 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.203 * [backup-simplify]: Simplify (- 0) into 0 31.204 * [backup-simplify]: Simplify (+ 0 0) into 0 31.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 31.204 * [backup-simplify]: Simplify (+ 0) into 0 31.204 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.204 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.206 * [backup-simplify]: Simplify (+ 0 0) into 0 31.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 31.206 * [backup-simplify]: Simplify (+ 0 0) into 0 31.206 * [backup-simplify]: Simplify (- 0) into 0 31.206 * [backup-simplify]: Simplify (+ 0 0) into 0 31.208 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 31.209 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 31.213 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 31.214 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.215 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.216 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.217 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.217 * [backup-simplify]: Simplify (- 0) into 0 31.217 * [backup-simplify]: Simplify (+ 0 0) into 0 31.218 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.219 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.220 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 3)))) into 0 31.221 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.221 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.222 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.222 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.223 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.223 * [backup-simplify]: Simplify (- 0) into 0 31.224 * [backup-simplify]: Simplify (+ 0 0) into 0 31.224 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 31.226 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 3)))) into 0 31.226 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 6) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 6)))) into 0 31.227 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 31.228 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 31.229 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.230 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.230 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.231 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.238 * [backup-simplify]: Simplify (- 0) into 0 31.239 * [backup-simplify]: Simplify (+ 0 0) into 0 31.240 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.241 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.242 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.242 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.243 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.243 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.244 * [backup-simplify]: Simplify (- 0) into 0 31.244 * [backup-simplify]: Simplify (+ 0 0) into 0 31.245 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.246 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.247 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.248 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.248 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.249 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.250 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.250 * [backup-simplify]: Simplify (+ 0 0) into 0 31.251 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.252 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.253 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.253 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.254 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.254 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.255 * [backup-simplify]: Simplify (+ 0 0) into 0 31.255 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.256 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.257 * [backup-simplify]: Simplify (+ 0 0) into 0 31.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.259 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.260 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.261 * [backup-simplify]: Simplify (+ 0 0) into 0 31.262 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.263 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.264 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.264 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.265 * [backup-simplify]: Simplify (- 0) into 0 31.265 * [backup-simplify]: Simplify (+ 0 0) into 0 31.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.267 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.268 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.268 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.269 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.269 * [backup-simplify]: Simplify (+ 0 0) into 0 31.270 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 31.271 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.272 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.272 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.274 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.274 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.274 * [backup-simplify]: Simplify (- 0) into 0 31.275 * [backup-simplify]: Simplify (+ 0 0) into 0 31.275 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 31.276 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.276 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.277 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.278 * [backup-simplify]: Simplify (- 0) into 0 31.278 * [backup-simplify]: Simplify (+ 0 0) into 0 31.279 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.280 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.281 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.281 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.282 * [backup-simplify]: Simplify (+ 0 0) into 0 31.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.283 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.284 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.285 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.285 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.286 * [backup-simplify]: Simplify (- 0) into 0 31.286 * [backup-simplify]: Simplify (+ 0 0) into 0 31.287 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 31.288 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.288 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.288 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.289 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.290 * [backup-simplify]: Simplify (+ 0 0) into 0 31.290 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 31.291 * [backup-simplify]: Simplify (+ 0 0) into 0 31.291 * [backup-simplify]: Simplify (- 0) into 0 31.291 * [backup-simplify]: Simplify (+ 0 0) into 0 31.293 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 31.294 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 31.298 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 31.302 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 31.307 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 31.314 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 31.321 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 6) (pow (cos (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) into 0 31.327 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))) 31.331 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) 31.336 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) 31.340 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) 31.343 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))) 31.346 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) 31.347 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.348 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.348 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.348 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.349 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.349 * [backup-simplify]: Simplify (- 0) into 0 31.349 * [backup-simplify]: Simplify (+ 0 0) into 0 31.350 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.350 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.351 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.351 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.352 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.352 * [backup-simplify]: Simplify (- 0) into 0 31.352 * [backup-simplify]: Simplify (+ 0 0) into 0 31.352 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.353 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.354 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.354 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.355 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.355 * [backup-simplify]: Simplify (+ 0 0) into 0 31.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.356 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.357 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.357 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.357 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.358 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.358 * [backup-simplify]: Simplify (+ 0 0) into 0 31.358 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.359 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.359 * [backup-simplify]: Simplify (+ 0 0) into 0 31.359 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.360 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.361 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.361 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.361 * [backup-simplify]: Simplify (- 0) into 0 31.361 * [backup-simplify]: Simplify (+ 0 0) into 0 31.362 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.363 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.363 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.363 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.364 * [backup-simplify]: Simplify (+ 0 0) into 0 31.364 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.369 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.370 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.370 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.371 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.371 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.371 * [backup-simplify]: Simplify (+ 0 0) into 0 31.372 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 31.372 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.373 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.373 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.374 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.374 * [backup-simplify]: Simplify (- 0) into 0 31.374 * [backup-simplify]: Simplify (+ 0 0) into 0 31.375 * [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 31.375 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.376 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.376 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.377 * [backup-simplify]: Simplify (+ 0 0) into 0 31.377 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.378 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.378 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.379 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.379 * [backup-simplify]: Simplify (- 0) into 0 31.379 * [backup-simplify]: Simplify (+ 0 0) into 0 31.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.381 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.381 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.381 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.382 * [backup-simplify]: Simplify (- 0) into 0 31.382 * [backup-simplify]: Simplify (+ 0 0) into 0 31.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 31.383 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.384 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.384 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.384 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.385 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.385 * [backup-simplify]: Simplify (+ 0 0) into 0 31.385 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 31.386 * [backup-simplify]: Simplify (+ 0 0) into 0 31.386 * [backup-simplify]: Simplify (- 0) into 0 31.386 * [backup-simplify]: Simplify (+ 0 0) into 0 31.389 * [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))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 31.391 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 31.404 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 31.409 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 31.409 * [backup-simplify]: Simplify (+ 0) into 0 31.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.410 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.411 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.412 * [backup-simplify]: Simplify (+ 0 0) into 0 31.412 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 31.412 * [backup-simplify]: Simplify (+ 0) into 0 31.413 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.413 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.414 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.414 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.415 * [backup-simplify]: Simplify (+ 0 0) into 0 31.415 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 31.415 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 31.416 * [backup-simplify]: Simplify (+ 0) into 0 31.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.416 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.417 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.417 * [backup-simplify]: Simplify (- 0) into 0 31.417 * [backup-simplify]: Simplify (+ 0 0) into 0 31.418 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.418 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 31.418 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 4) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.418 * [backup-simplify]: Simplify (+ 0) into 0 31.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.419 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.420 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.420 * [backup-simplify]: Simplify (- 0) into 0 31.420 * [backup-simplify]: Simplify (+ 0 0) into 0 31.420 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 31.421 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 31.421 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 2))))) into 0 31.421 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 31.422 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 31.422 * [backup-simplify]: Simplify (+ 0) into 0 31.423 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.423 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.423 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.424 * [backup-simplify]: Simplify (- 0) into 0 31.424 * [backup-simplify]: Simplify (+ 0 0) into 0 31.424 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.424 * [backup-simplify]: Simplify (+ 0) into 0 31.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.425 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.426 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.426 * [backup-simplify]: Simplify (- 0) into 0 31.426 * [backup-simplify]: Simplify (+ 0 0) into 0 31.426 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 31.426 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 31.427 * [backup-simplify]: Simplify (+ 0) into 0 31.427 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.428 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.428 * [backup-simplify]: Simplify (+ 0 0) into 0 31.428 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 31.429 * [backup-simplify]: Simplify (+ 0) into 0 31.429 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.429 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.430 * [backup-simplify]: Simplify (+ 0 0) into 0 31.430 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 31.430 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 31.431 * [backup-simplify]: Simplify (+ 0 0) into 0 31.431 * [backup-simplify]: Simplify (+ 0) into 0 31.431 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.431 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.432 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.432 * [backup-simplify]: Simplify (+ 0 0) into 0 31.433 * [backup-simplify]: Simplify (+ 0) into 0 31.433 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.433 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.434 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.434 * [backup-simplify]: Simplify (- 0) into 0 31.434 * [backup-simplify]: Simplify (+ 0 0) into 0 31.434 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 31.435 * [backup-simplify]: Simplify (+ 0) into 0 31.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.435 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.436 * [backup-simplify]: Simplify (+ 0 0) into 0 31.436 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 31.437 * [backup-simplify]: Simplify (+ 0) into 0 31.437 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.437 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.438 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.438 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.438 * [backup-simplify]: Simplify (- 0) into 0 31.438 * [backup-simplify]: Simplify (+ 0 0) into 0 31.439 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 31.439 * [backup-simplify]: Simplify (+ 0) into 0 31.439 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.439 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.440 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.440 * [backup-simplify]: Simplify (- 0) into 0 31.441 * [backup-simplify]: Simplify (+ 0 0) into 0 31.441 * [backup-simplify]: Simplify (+ 0) into 0 31.441 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.441 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.442 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.442 * [backup-simplify]: Simplify (+ 0 0) into 0 31.442 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.443 * [backup-simplify]: Simplify (+ 0) into 0 31.443 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.443 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.444 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.444 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.444 * [backup-simplify]: Simplify (- 0) into 0 31.445 * [backup-simplify]: Simplify (+ 0 0) into 0 31.445 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 31.445 * [backup-simplify]: Simplify (+ 0) into 0 31.446 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.446 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.447 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.447 * [backup-simplify]: Simplify (+ 0 0) into 0 31.448 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 31.448 * [backup-simplify]: Simplify (+ 0 0) into 0 31.449 * [backup-simplify]: Simplify (- 0) into 0 31.449 * [backup-simplify]: Simplify (+ 0 0) into 0 31.451 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 31.453 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 31.460 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 31.462 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.462 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.463 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.463 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.464 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.464 * [backup-simplify]: Simplify (+ 0 0) into 0 31.465 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.466 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.466 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.467 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.467 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.468 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.468 * [backup-simplify]: Simplify (+ 0 0) into 0 31.469 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.470 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.471 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.472 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.473 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.474 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.474 * [backup-simplify]: Simplify (- 0) into 0 31.474 * [backup-simplify]: Simplify (+ 0 0) into 0 31.475 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.476 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.477 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0 31.478 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.478 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.479 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.479 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.480 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.480 * [backup-simplify]: Simplify (- 0) into 0 31.481 * [backup-simplify]: Simplify (+ 0 0) into 0 31.481 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.482 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 31.483 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 2)))))) into 0 31.485 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 31.486 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 31.487 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.488 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.489 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.490 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.490 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.491 * [backup-simplify]: Simplify (- 0) into 0 31.491 * [backup-simplify]: Simplify (+ 0 0) into 0 31.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.493 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.494 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.495 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.495 * [backup-simplify]: Simplify (- 0) into 0 31.502 * [backup-simplify]: Simplify (+ 0 0) into 0 31.503 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.504 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.505 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.507 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.508 * [backup-simplify]: Simplify (+ 0 0) into 0 31.508 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.509 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.510 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.511 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.512 * [backup-simplify]: Simplify (+ 0 0) into 0 31.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.513 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.514 * [backup-simplify]: Simplify (+ 0 0) into 0 31.515 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.516 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.516 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.517 * [backup-simplify]: Simplify (+ 0 0) into 0 31.518 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.520 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.520 * [backup-simplify]: Simplify (- 0) into 0 31.521 * [backup-simplify]: Simplify (+ 0 0) into 0 31.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.522 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.522 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.523 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.523 * [backup-simplify]: Simplify (+ 0 0) into 0 31.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 31.524 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.525 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.525 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.526 * [backup-simplify]: Simplify (- 0) into 0 31.526 * [backup-simplify]: Simplify (+ 0 0) into 0 31.527 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 31.528 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.529 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.529 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.530 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.530 * [backup-simplify]: Simplify (- 0) into 0 31.531 * [backup-simplify]: Simplify (+ 0 0) into 0 31.532 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.533 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.533 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.534 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.534 * [backup-simplify]: Simplify (+ 0 0) into 0 31.535 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.536 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.537 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.537 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.538 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.538 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.538 * [backup-simplify]: Simplify (- 0) into 0 31.539 * [backup-simplify]: Simplify (+ 0 0) into 0 31.540 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 31.540 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.541 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.542 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.542 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.542 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.543 * [backup-simplify]: Simplify (+ 0 0) into 0 31.543 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 31.543 * [backup-simplify]: Simplify (+ 0 0) into 0 31.544 * [backup-simplify]: Simplify (- 0) into 0 31.544 * [backup-simplify]: Simplify (+ 0 0) into 0 31.545 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 31.547 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 31.552 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 31.556 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 31.557 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.557 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.558 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.558 * [backup-simplify]: Simplify (- 0) into 0 31.559 * [backup-simplify]: Simplify (+ 0 0) into 0 31.559 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.559 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.560 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.560 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.561 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.561 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.561 * [backup-simplify]: Simplify (- 0) into 0 31.561 * [backup-simplify]: Simplify (+ 0 0) into 0 31.562 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.562 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.563 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.563 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.563 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.564 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.564 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.565 * [backup-simplify]: Simplify (+ 0 0) into 0 31.565 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.565 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.566 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.566 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.567 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.567 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.567 * [backup-simplify]: Simplify (+ 0 0) into 0 31.568 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.568 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.568 * [backup-simplify]: Simplify (+ 0 0) into 0 31.569 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.569 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.570 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.570 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.571 * [backup-simplify]: Simplify (- 0) into 0 31.571 * [backup-simplify]: Simplify (+ 0 0) into 0 31.571 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.572 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.573 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.574 * [backup-simplify]: Simplify (+ 0 0) into 0 31.575 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.575 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.576 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.577 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.578 * [backup-simplify]: Simplify (+ 0 0) into 0 31.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 31.579 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.580 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.581 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.582 * [backup-simplify]: Simplify (- 0) into 0 31.582 * [backup-simplify]: Simplify (+ 0 0) into 0 31.583 * [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 31.584 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.585 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.586 * [backup-simplify]: Simplify (+ 0 0) into 0 31.586 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.587 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.587 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.588 * [backup-simplify]: Simplify (- 0) into 0 31.588 * [backup-simplify]: Simplify (+ 0 0) into 0 31.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.589 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.590 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.590 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.591 * [backup-simplify]: Simplify (- 0) into 0 31.592 * [backup-simplify]: Simplify (+ 0 0) into 0 31.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 31.593 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.594 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.595 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.596 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.596 * [backup-simplify]: Simplify (+ 0 0) into 0 31.597 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 31.597 * [backup-simplify]: Simplify (+ 0 0) into 0 31.597 * [backup-simplify]: Simplify (- 0) into 0 31.598 * [backup-simplify]: Simplify (+ 0 0) into 0 31.602 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 31.606 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 31.613 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 31.616 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 31.622 * [backup-simplify]: Simplify (+ 0) into 0 31.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.623 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.624 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.624 * [backup-simplify]: Simplify (- 0) into 0 31.624 * [backup-simplify]: Simplify (+ 0 0) into 0 31.624 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.624 * [backup-simplify]: Simplify (+ 0) into 0 31.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.625 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.626 * [backup-simplify]: Simplify (+ 0 0) into 0 31.626 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 31.626 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 31.627 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 31.627 * [backup-simplify]: Simplify (+ 0) into 0 31.627 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.627 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.628 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.628 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.628 * [backup-simplify]: Simplify (- 0) into 0 31.629 * [backup-simplify]: Simplify (+ 0 0) into 0 31.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 31.629 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.629 * [backup-simplify]: Simplify (+ 0) into 0 31.630 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.630 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.631 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.631 * [backup-simplify]: Simplify (+ 0 0) into 0 31.631 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 31.631 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 31.632 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 4) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 4))))) into 0 31.632 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 31.632 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 31.633 * [backup-simplify]: Simplify (+ 0) into 0 31.633 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.633 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.634 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.634 * [backup-simplify]: Simplify (- 0) into 0 31.634 * [backup-simplify]: Simplify (+ 0 0) into 0 31.635 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.635 * [backup-simplify]: Simplify (+ 0) into 0 31.635 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.635 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.636 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.636 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.636 * [backup-simplify]: Simplify (- 0) into 0 31.637 * [backup-simplify]: Simplify (+ 0 0) into 0 31.637 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 31.637 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 31.637 * [backup-simplify]: Simplify (+ 0) into 0 31.638 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.638 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.638 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.639 * [backup-simplify]: Simplify (+ 0 0) into 0 31.639 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 31.639 * [backup-simplify]: Simplify (+ 0) into 0 31.639 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.639 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.640 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.640 * [backup-simplify]: Simplify (+ 0 0) into 0 31.641 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 31.641 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 31.641 * [backup-simplify]: Simplify (+ 0 0) into 0 31.641 * [backup-simplify]: Simplify (+ 0) into 0 31.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.642 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.643 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.643 * [backup-simplify]: Simplify (+ 0 0) into 0 31.643 * [backup-simplify]: Simplify (+ 0) into 0 31.643 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.644 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.644 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.645 * [backup-simplify]: Simplify (- 0) into 0 31.645 * [backup-simplify]: Simplify (+ 0 0) into 0 31.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 31.645 * [backup-simplify]: Simplify (+ 0) into 0 31.646 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.646 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.646 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.647 * [backup-simplify]: Simplify (+ 0 0) into 0 31.647 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 31.647 * [backup-simplify]: Simplify (+ 0) into 0 31.647 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.648 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.648 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.649 * [backup-simplify]: Simplify (- 0) into 0 31.649 * [backup-simplify]: Simplify (+ 0 0) into 0 31.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 31.649 * [backup-simplify]: Simplify (+ 0) into 0 31.650 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.650 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.651 * [backup-simplify]: Simplify (- 0) into 0 31.651 * [backup-simplify]: Simplify (+ 0 0) into 0 31.651 * [backup-simplify]: Simplify (+ 0) into 0 31.652 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.652 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.653 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.653 * [backup-simplify]: Simplify (+ 0 0) into 0 31.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.653 * [backup-simplify]: Simplify (+ 0) into 0 31.654 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.654 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.654 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.655 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.655 * [backup-simplify]: Simplify (- 0) into 0 31.655 * [backup-simplify]: Simplify (+ 0 0) into 0 31.655 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 31.655 * [backup-simplify]: Simplify (+ 0) into 0 31.656 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.656 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.657 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.657 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.658 * [backup-simplify]: Simplify (+ 0 0) into 0 31.658 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 31.658 * [backup-simplify]: Simplify (+ 0 0) into 0 31.659 * [backup-simplify]: Simplify (- 0) into 0 31.659 * [backup-simplify]: Simplify (+ 0 0) into 0 31.661 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 31.662 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 31.668 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 31.669 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.670 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.670 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.671 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.672 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.672 * [backup-simplify]: Simplify (- 0) into 0 31.672 * [backup-simplify]: Simplify (+ 0 0) into 0 31.673 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.674 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.675 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.676 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.676 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.677 * [backup-simplify]: Simplify (+ 0 0) into 0 31.677 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.678 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 31.679 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.680 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.680 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.681 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.681 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.682 * [backup-simplify]: Simplify (- 0) into 0 31.683 * [backup-simplify]: Simplify (+ 0 0) into 0 31.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.684 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2))))) into 0 31.685 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.686 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.686 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.687 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.688 * [backup-simplify]: Simplify (+ 0 0) into 0 31.688 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.689 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.690 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi2)) 4)))))) into 0 31.691 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 31.692 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 31.693 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.694 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.694 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.695 * [backup-simplify]: Simplify (- 0) into 0 31.696 * [backup-simplify]: Simplify (+ 0 0) into 0 31.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.697 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.698 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.699 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.700 * [backup-simplify]: Simplify (- 0) into 0 31.700 * [backup-simplify]: Simplify (+ 0 0) into 0 31.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.702 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.703 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.704 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.705 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.706 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.706 * [backup-simplify]: Simplify (+ 0 0) into 0 31.707 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.708 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.709 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.710 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.711 * [backup-simplify]: Simplify (+ 0 0) into 0 31.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.712 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.713 * [backup-simplify]: Simplify (+ 0 0) into 0 31.714 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.715 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.715 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.716 * [backup-simplify]: Simplify (+ 0 0) into 0 31.717 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.718 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.719 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.720 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.720 * [backup-simplify]: Simplify (- 0) into 0 31.721 * [backup-simplify]: Simplify (+ 0 0) into 0 31.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.722 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.723 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.723 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.724 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.724 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.725 * [backup-simplify]: Simplify (+ 0 0) into 0 31.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 31.726 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.727 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.727 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.728 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.729 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.731 * [backup-simplify]: Simplify (- 0) into 0 31.731 * [backup-simplify]: Simplify (+ 0 0) into 0 31.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 31.733 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.733 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.734 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.734 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.734 * [backup-simplify]: Simplify (- 0) into 0 31.735 * [backup-simplify]: Simplify (+ 0 0) into 0 31.735 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.736 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.736 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.737 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.738 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.738 * [backup-simplify]: Simplify (+ 0 0) into 0 31.738 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.739 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.740 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.740 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.741 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.742 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.742 * [backup-simplify]: Simplify (- 0) into 0 31.742 * [backup-simplify]: Simplify (+ 0 0) into 0 31.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 31.744 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.744 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.745 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.745 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.746 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.746 * [backup-simplify]: Simplify (+ 0 0) into 0 31.747 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 31.748 * [backup-simplify]: Simplify (+ 0 0) into 0 31.748 * [backup-simplify]: Simplify (- 0) into 0 31.748 * [backup-simplify]: Simplify (+ 0 0) into 0 31.757 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 31.759 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 31.768 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 31.775 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 31.782 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 31.789 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 31.798 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 31.799 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.800 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.801 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.802 * [backup-simplify]: Simplify (- 0) into 0 31.802 * [backup-simplify]: Simplify (+ 0 0) into 0 31.803 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.804 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.805 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.805 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.806 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.806 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.806 * [backup-simplify]: Simplify (- 0) into 0 31.807 * [backup-simplify]: Simplify (+ 0 0) into 0 31.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.808 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.809 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.810 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.810 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.811 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.811 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.812 * [backup-simplify]: Simplify (+ 0 0) into 0 31.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.813 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.814 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.814 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.815 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.816 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.816 * [backup-simplify]: Simplify (+ 0 0) into 0 31.816 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.817 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.818 * [backup-simplify]: Simplify (+ 0 0) into 0 31.818 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.819 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.819 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.820 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.821 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.821 * [backup-simplify]: Simplify (- 0) into 0 31.821 * [backup-simplify]: Simplify (+ 0 0) into 0 31.822 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.823 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.823 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.824 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.825 * [backup-simplify]: Simplify (+ 0 0) into 0 31.826 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.827 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.828 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.828 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.830 * [backup-simplify]: Simplify (+ 0 0) into 0 31.831 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 31.831 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.832 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.832 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.833 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.834 * [backup-simplify]: Simplify (- 0) into 0 31.834 * [backup-simplify]: Simplify (+ 0 0) into 0 31.835 * [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 31.836 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.837 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.837 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.838 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.838 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.839 * [backup-simplify]: Simplify (+ 0 0) into 0 31.840 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.840 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.841 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.842 * [backup-simplify]: Simplify (- 0) into 0 31.842 * [backup-simplify]: Simplify (+ 0 0) into 0 31.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.844 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.845 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.846 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.846 * [backup-simplify]: Simplify (- 0) into 0 31.847 * [backup-simplify]: Simplify (+ 0 0) into 0 31.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 31.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.849 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.850 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.851 * [backup-simplify]: Simplify (+ 0 0) into 0 31.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 31.852 * [backup-simplify]: Simplify (+ 0 0) into 0 31.852 * [backup-simplify]: Simplify (- 0) into 0 31.853 * [backup-simplify]: Simplify (+ 0 0) into 0 31.858 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 31.863 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 31.875 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 31.878 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 31.879 * [backup-simplify]: Simplify (+ 0) into 0 31.879 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.879 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.880 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.880 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.880 * [backup-simplify]: Simplify (- 0) into 0 31.881 * [backup-simplify]: Simplify (+ 0 0) into 0 31.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 31.881 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 31.881 * [backup-simplify]: Simplify (+ 0) into 0 31.882 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.882 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.882 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.883 * [backup-simplify]: Simplify (+ 0 0) into 0 31.883 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 31.883 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 4))) into 0 31.883 * [backup-simplify]: Simplify (+ 0) into 0 31.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.884 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.885 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.885 * [backup-simplify]: Simplify (+ 0 0) into 0 31.885 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 31.885 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) into 0 31.886 * [backup-simplify]: Simplify (+ 0) into 0 31.886 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.886 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.887 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.887 * [backup-simplify]: Simplify (- 0) into 0 31.888 * [backup-simplify]: Simplify (+ 0 0) into 0 31.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.888 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 31.888 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 4) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))))) into 0 31.889 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 31.889 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 31.889 * [backup-simplify]: Simplify (+ 0) into 0 31.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.890 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.890 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.891 * [backup-simplify]: Simplify (- 0) into 0 31.891 * [backup-simplify]: Simplify (+ 0 0) into 0 31.891 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.892 * [backup-simplify]: Simplify (+ 0) into 0 31.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.892 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.893 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.894 * [backup-simplify]: Simplify (- 0) into 0 31.894 * [backup-simplify]: Simplify (+ 0 0) into 0 31.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 31.895 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 31.895 * [backup-simplify]: Simplify (+ 0) into 0 31.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.896 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.897 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.898 * [backup-simplify]: Simplify (+ 0 0) into 0 31.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 31.898 * [backup-simplify]: Simplify (+ 0) into 0 31.899 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.899 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.904 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.905 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.905 * [backup-simplify]: Simplify (+ 0 0) into 0 31.905 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 31.905 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 31.906 * [backup-simplify]: Simplify (+ 0 0) into 0 31.906 * [backup-simplify]: Simplify (+ 0) into 0 31.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.906 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.907 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.907 * [backup-simplify]: Simplify (+ 0 0) into 0 31.908 * [backup-simplify]: Simplify (+ 0) into 0 31.908 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.908 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.909 * [backup-simplify]: Simplify (- 0) into 0 31.909 * [backup-simplify]: Simplify (+ 0 0) into 0 31.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 31.910 * [backup-simplify]: Simplify (+ 0) into 0 31.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.910 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.911 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.911 * [backup-simplify]: Simplify (+ 0 0) into 0 31.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 31.912 * [backup-simplify]: Simplify (+ 0) into 0 31.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.912 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.913 * [backup-simplify]: Simplify (- 0) into 0 31.913 * [backup-simplify]: Simplify (+ 0 0) into 0 31.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 31.914 * [backup-simplify]: Simplify (+ 0) into 0 31.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.914 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.915 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.915 * [backup-simplify]: Simplify (- 0) into 0 31.916 * [backup-simplify]: Simplify (+ 0 0) into 0 31.916 * [backup-simplify]: Simplify (+ 0) into 0 31.916 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 31.916 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 31.917 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.917 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 31.917 * [backup-simplify]: Simplify (+ 0 0) into 0 31.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 31.918 * [backup-simplify]: Simplify (+ 0) into 0 31.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.918 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.919 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.919 * [backup-simplify]: Simplify (- 0) into 0 31.920 * [backup-simplify]: Simplify (+ 0 0) into 0 31.920 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 31.920 * [backup-simplify]: Simplify (+ 0) into 0 31.921 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 31.921 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 31.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 31.922 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 31.923 * [backup-simplify]: Simplify (+ 0 0) into 0 31.923 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 31.924 * [backup-simplify]: Simplify (+ 0 0) into 0 31.924 * [backup-simplify]: Simplify (- 0) into 0 31.925 * [backup-simplify]: Simplify (+ 0 0) into 0 31.927 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 31.928 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 31.936 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 31.937 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.938 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.939 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.940 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.940 * [backup-simplify]: Simplify (- 0) into 0 31.941 * [backup-simplify]: Simplify (+ 0 0) into 0 31.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.942 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 31.943 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.944 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.945 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.946 * [backup-simplify]: Simplify (+ 0 0) into 0 31.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.948 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 4)))) into 0 31.949 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.950 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.950 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.951 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.951 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.952 * [backup-simplify]: Simplify (+ 0 0) into 0 31.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.954 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4))))) into 0 31.955 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.956 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.956 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.957 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.958 * [backup-simplify]: Simplify (- 0) into 0 31.959 * [backup-simplify]: Simplify (+ 0 0) into 0 31.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.960 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.962 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))))) into 0 31.963 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 31.964 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 31.965 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.966 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.967 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.968 * [backup-simplify]: Simplify (- 0) into 0 31.968 * [backup-simplify]: Simplify (+ 0 0) into 0 31.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 31.970 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.970 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.971 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.971 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.972 * [backup-simplify]: Simplify (- 0) into 0 31.973 * [backup-simplify]: Simplify (+ 0 0) into 0 31.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 31.974 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 31.975 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.976 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.976 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.977 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.978 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.978 * [backup-simplify]: Simplify (+ 0 0) into 0 31.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.980 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.980 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.981 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.981 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.982 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.982 * [backup-simplify]: Simplify (+ 0 0) into 0 31.983 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 31.984 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 31.985 * [backup-simplify]: Simplify (+ 0 0) into 0 31.986 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.986 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.987 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.987 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.988 * [backup-simplify]: Simplify (+ 0 0) into 0 31.989 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.990 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 31.990 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 31.991 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.992 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 31.992 * [backup-simplify]: Simplify (- 0) into 0 31.993 * [backup-simplify]: Simplify (+ 0 0) into 0 31.993 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 31.994 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.995 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 31.995 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 31.996 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 31.997 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 31.997 * [backup-simplify]: Simplify (+ 0 0) into 0 31.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 31.999 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 31.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.000 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.000 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.001 * [backup-simplify]: Simplify (- 0) into 0 32.002 * [backup-simplify]: Simplify (+ 0 0) into 0 32.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 32.004 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.005 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.005 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.006 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.006 * [backup-simplify]: Simplify (- 0) into 0 32.007 * [backup-simplify]: Simplify (+ 0 0) into 0 32.008 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.009 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.010 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.011 * [backup-simplify]: Simplify (+ 0 0) into 0 32.011 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.012 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.013 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.014 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.015 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.015 * [backup-simplify]: Simplify (- 0) into 0 32.016 * [backup-simplify]: Simplify (+ 0 0) into 0 32.016 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 32.017 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.018 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.018 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.020 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.020 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.021 * [backup-simplify]: Simplify (+ 0 0) into 0 32.021 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 32.022 * [backup-simplify]: Simplify (+ 0 0) into 0 32.022 * [backup-simplify]: Simplify (- 0) into 0 32.023 * [backup-simplify]: Simplify (+ 0 0) into 0 32.026 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 32.029 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 32.039 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 32.047 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 32.056 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 32.064 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 32.081 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi1)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 32.083 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.084 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.084 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.085 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.085 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.086 * [backup-simplify]: Simplify (- 0) into 0 32.086 * [backup-simplify]: Simplify (+ 0 0) into 0 32.087 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.088 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.089 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.090 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.090 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.091 * [backup-simplify]: Simplify (- 0) into 0 32.092 * [backup-simplify]: Simplify (+ 0 0) into 0 32.092 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 32.093 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 32.094 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.095 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.095 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.096 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.097 * [backup-simplify]: Simplify (+ 0 0) into 0 32.098 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.099 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.099 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.100 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.100 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.101 * [backup-simplify]: Simplify (+ 0 0) into 0 32.102 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 32.103 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 32.103 * [backup-simplify]: Simplify (+ 0 0) into 0 32.105 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.105 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.106 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.107 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.107 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.108 * [backup-simplify]: Simplify (- 0) into 0 32.108 * [backup-simplify]: Simplify (+ 0 0) into 0 32.109 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.110 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.111 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.112 * [backup-simplify]: Simplify (+ 0 0) into 0 32.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.115 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.115 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.116 * [backup-simplify]: Simplify (+ 0 0) into 0 32.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 32.118 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.120 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.121 * [backup-simplify]: Simplify (- 0) into 0 32.121 * [backup-simplify]: Simplify (+ 0 0) into 0 32.122 * [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 32.123 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.124 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.125 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.126 * [backup-simplify]: Simplify (+ 0 0) into 0 32.126 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.127 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.128 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.129 * [backup-simplify]: Simplify (- 0) into 0 32.130 * [backup-simplify]: Simplify (+ 0 0) into 0 32.130 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.131 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.132 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.133 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.134 * [backup-simplify]: Simplify (- 0) into 0 32.134 * [backup-simplify]: Simplify (+ 0 0) into 0 32.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 32.136 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.136 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.137 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.138 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.138 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.139 * [backup-simplify]: Simplify (+ 0 0) into 0 32.139 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 32.140 * [backup-simplify]: Simplify (+ 0 0) into 0 32.140 * [backup-simplify]: Simplify (- 0) into 0 32.140 * [backup-simplify]: Simplify (+ 0 0) into 0 32.145 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 32.150 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 32.164 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 32.170 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 32.171 * [backup-simplify]: Simplify (+ 0) into 0 32.172 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.172 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.173 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.173 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.174 * [backup-simplify]: Simplify (- 0) into 0 32.174 * [backup-simplify]: Simplify (+ 0 0) into 0 32.175 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 32.175 * [backup-simplify]: Simplify (+ 0) into 0 32.176 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.176 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.177 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.178 * [backup-simplify]: Simplify (+ 0 0) into 0 32.178 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.178 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 32.179 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 4) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 32.179 * [backup-simplify]: Simplify (+ 0) into 0 32.180 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.180 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.181 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.181 * [backup-simplify]: Simplify (- 0) into 0 32.182 * [backup-simplify]: Simplify (+ 0 0) into 0 32.182 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 32.183 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) into 0 32.183 * [backup-simplify]: Simplify (+ 0) into 0 32.184 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.184 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.185 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.186 * [backup-simplify]: Simplify (+ 0 0) into 0 32.186 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 32.186 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 32.187 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 4))))) into 0 32.188 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 32.189 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 32.189 * [backup-simplify]: Simplify (+ 0) into 0 32.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.191 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.191 * [backup-simplify]: Simplify (- 0) into 0 32.192 * [backup-simplify]: Simplify (+ 0 0) into 0 32.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 32.192 * [backup-simplify]: Simplify (+ 0) into 0 32.193 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.193 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.194 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.195 * [backup-simplify]: Simplify (- 0) into 0 32.195 * [backup-simplify]: Simplify (+ 0 0) into 0 32.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 32.196 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 32.196 * [backup-simplify]: Simplify (+ 0) into 0 32.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.197 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.199 * [backup-simplify]: Simplify (+ 0 0) into 0 32.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.199 * [backup-simplify]: Simplify (+ 0) into 0 32.200 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.200 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.201 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.202 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.203 * [backup-simplify]: Simplify (+ 0 0) into 0 32.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 32.203 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 32.204 * [backup-simplify]: Simplify (+ 0 0) into 0 32.204 * [backup-simplify]: Simplify (+ 0) into 0 32.205 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.205 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.207 * [backup-simplify]: Simplify (+ 0 0) into 0 32.207 * [backup-simplify]: Simplify (+ 0) into 0 32.208 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.208 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.209 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.210 * [backup-simplify]: Simplify (- 0) into 0 32.210 * [backup-simplify]: Simplify (+ 0 0) into 0 32.211 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.211 * [backup-simplify]: Simplify (+ 0) into 0 32.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.212 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.213 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.214 * [backup-simplify]: Simplify (+ 0 0) into 0 32.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 32.215 * [backup-simplify]: Simplify (+ 0) into 0 32.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.215 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.217 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.217 * [backup-simplify]: Simplify (- 0) into 0 32.217 * [backup-simplify]: Simplify (+ 0 0) into 0 32.218 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 32.218 * [backup-simplify]: Simplify (+ 0) into 0 32.219 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.219 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.220 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.221 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.221 * [backup-simplify]: Simplify (- 0) into 0 32.221 * [backup-simplify]: Simplify (+ 0 0) into 0 32.222 * [backup-simplify]: Simplify (+ 0) into 0 32.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.222 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.224 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.224 * [backup-simplify]: Simplify (+ 0 0) into 0 32.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 32.225 * [backup-simplify]: Simplify (+ 0) into 0 32.226 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.226 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.227 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.227 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.228 * [backup-simplify]: Simplify (- 0) into 0 32.228 * [backup-simplify]: Simplify (+ 0 0) into 0 32.228 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 32.229 * [backup-simplify]: Simplify (+ 0) into 0 32.229 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.229 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.231 * [backup-simplify]: Simplify (+ 0 0) into 0 32.232 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 32.232 * [backup-simplify]: Simplify (+ 0 0) into 0 32.232 * [backup-simplify]: Simplify (- 0) into 0 32.233 * [backup-simplify]: Simplify (+ 0 0) into 0 32.235 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 32.237 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 32.243 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 32.248 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.249 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.249 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.250 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.250 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.251 * [backup-simplify]: Simplify (- 0) into 0 32.251 * [backup-simplify]: Simplify (+ 0 0) into 0 32.251 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.252 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.253 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.253 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.254 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.254 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.255 * [backup-simplify]: Simplify (+ 0 0) into 0 32.255 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.256 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 32.257 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 32.257 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.258 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.258 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.258 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.259 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.259 * [backup-simplify]: Simplify (- 0) into 0 32.259 * [backup-simplify]: Simplify (+ 0 0) into 0 32.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 32.260 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2))))) into 0 32.261 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.261 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.261 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.262 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.262 * [backup-simplify]: Simplify (+ 0 0) into 0 32.263 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 32.263 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 32.264 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 4)))))) into 0 32.265 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 32.265 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 32.266 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.267 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.267 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.268 * [backup-simplify]: Simplify (- 0) into 0 32.268 * [backup-simplify]: Simplify (+ 0 0) into 0 32.268 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.269 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.270 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.270 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.271 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.272 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.272 * [backup-simplify]: Simplify (- 0) into 0 32.273 * [backup-simplify]: Simplify (+ 0 0) into 0 32.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 32.274 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 32.275 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.276 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.276 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.277 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.278 * [backup-simplify]: Simplify (+ 0 0) into 0 32.278 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.279 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.280 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.281 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.281 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.282 * [backup-simplify]: Simplify (+ 0 0) into 0 32.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 32.283 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 32.284 * [backup-simplify]: Simplify (+ 0 0) into 0 32.285 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.286 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.286 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.287 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.287 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.288 * [backup-simplify]: Simplify (+ 0 0) into 0 32.289 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.290 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.291 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.291 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.292 * [backup-simplify]: Simplify (- 0) into 0 32.292 * [backup-simplify]: Simplify (+ 0 0) into 0 32.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.294 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.294 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.295 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.295 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.296 * [backup-simplify]: Simplify (+ 0 0) into 0 32.297 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 32.298 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.299 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.300 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.300 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.301 * [backup-simplify]: Simplify (- 0) into 0 32.301 * [backup-simplify]: Simplify (+ 0 0) into 0 32.302 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 32.303 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.304 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.304 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.305 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.305 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.306 * [backup-simplify]: Simplify (- 0) into 0 32.306 * [backup-simplify]: Simplify (+ 0 0) into 0 32.307 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.308 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.308 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.309 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.310 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.310 * [backup-simplify]: Simplify (+ 0 0) into 0 32.311 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.312 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.312 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.313 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.313 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.314 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.315 * [backup-simplify]: Simplify (- 0) into 0 32.315 * [backup-simplify]: Simplify (+ 0 0) into 0 32.316 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 32.317 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.318 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.318 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.319 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.320 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.320 * [backup-simplify]: Simplify (+ 0 0) into 0 32.321 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 32.321 * [backup-simplify]: Simplify (+ 0 0) into 0 32.322 * [backup-simplify]: Simplify (- 0) into 0 32.322 * [backup-simplify]: Simplify (+ 0 0) into 0 32.325 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 32.327 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 32.337 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 32.346 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 32.354 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 32.362 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 32.372 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 32.373 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.374 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.374 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.375 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.375 * [backup-simplify]: Simplify (- 0) into 0 32.375 * [backup-simplify]: Simplify (+ 0 0) into 0 32.376 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.376 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.377 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.377 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.378 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.378 * [backup-simplify]: Simplify (- 0) into 0 32.378 * [backup-simplify]: Simplify (+ 0 0) into 0 32.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 32.379 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 32.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.381 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.381 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.381 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.382 * [backup-simplify]: Simplify (+ 0 0) into 0 32.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.383 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.383 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.383 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.384 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.384 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.384 * [backup-simplify]: Simplify (+ 0 0) into 0 32.385 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 32.385 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 32.385 * [backup-simplify]: Simplify (+ 0 0) into 0 32.386 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.386 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.387 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.387 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.388 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.388 * [backup-simplify]: Simplify (- 0) into 0 32.388 * [backup-simplify]: Simplify (+ 0 0) into 0 32.389 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.389 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.389 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.390 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.390 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.390 * [backup-simplify]: Simplify (+ 0 0) into 0 32.391 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.391 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.392 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.392 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.401 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.402 * [backup-simplify]: Simplify (+ 0 0) into 0 32.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 32.404 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.405 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.406 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.407 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.407 * [backup-simplify]: Simplify (- 0) into 0 32.408 * [backup-simplify]: Simplify (+ 0 0) into 0 32.408 * [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 32.409 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.411 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.411 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.412 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.412 * [backup-simplify]: Simplify (+ 0 0) into 0 32.413 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.414 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.415 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.415 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.416 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.416 * [backup-simplify]: Simplify (- 0) into 0 32.417 * [backup-simplify]: Simplify (+ 0 0) into 0 32.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.418 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.419 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.420 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.421 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.421 * [backup-simplify]: Simplify (- 0) into 0 32.422 * [backup-simplify]: Simplify (+ 0 0) into 0 32.422 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 32.423 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.424 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.424 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.425 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.426 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.426 * [backup-simplify]: Simplify (+ 0 0) into 0 32.427 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 32.428 * [backup-simplify]: Simplify (+ 0 0) into 0 32.428 * [backup-simplify]: Simplify (- 0) into 0 32.429 * [backup-simplify]: Simplify (+ 0 0) into 0 32.434 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 32.439 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 32.453 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 32.461 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 32.462 * [backup-simplify]: Simplify (+ 0) into 0 32.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.463 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.464 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.464 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.465 * [backup-simplify]: Simplify (- 0) into 0 32.465 * [backup-simplify]: Simplify (+ 0 0) into 0 32.465 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 32.466 * [backup-simplify]: Simplify (+ 0) into 0 32.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.467 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.468 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.468 * [backup-simplify]: Simplify (+ 0 0) into 0 32.469 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 32.469 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 32.470 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 32.470 * [backup-simplify]: Simplify (+ 0) into 0 32.471 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.471 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.472 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.472 * [backup-simplify]: Simplify (+ 0 0) into 0 32.473 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.473 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 32.474 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 4) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) into 0 32.474 * [backup-simplify]: Simplify (+ 0) into 0 32.475 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.475 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.476 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.476 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.476 * [backup-simplify]: Simplify (- 0) into 0 32.477 * [backup-simplify]: Simplify (+ 0 0) into 0 32.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 32.478 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 4))))) into 0 32.479 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 32.479 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 32.480 * [backup-simplify]: Simplify (+ 0) into 0 32.480 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.481 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.482 * [backup-simplify]: Simplify (- 0) into 0 32.483 * [backup-simplify]: Simplify (+ 0 0) into 0 32.483 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 32.483 * [backup-simplify]: Simplify (+ 0) into 0 32.484 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.484 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.485 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.486 * [backup-simplify]: Simplify (- 0) into 0 32.486 * [backup-simplify]: Simplify (+ 0 0) into 0 32.486 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 32.487 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 32.487 * [backup-simplify]: Simplify (+ 0) into 0 32.488 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.488 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.489 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.490 * [backup-simplify]: Simplify (+ 0 0) into 0 32.490 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.490 * [backup-simplify]: Simplify (+ 0) into 0 32.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.491 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.492 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.493 * [backup-simplify]: Simplify (+ 0 0) into 0 32.493 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 32.493 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 32.494 * [backup-simplify]: Simplify (+ 0 0) into 0 32.494 * [backup-simplify]: Simplify (+ 0) into 0 32.494 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.495 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.496 * [backup-simplify]: Simplify (+ 0 0) into 0 32.497 * [backup-simplify]: Simplify (+ 0) into 0 32.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.497 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.499 * [backup-simplify]: Simplify (- 0) into 0 32.500 * [backup-simplify]: Simplify (+ 0 0) into 0 32.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.500 * [backup-simplify]: Simplify (+ 0) into 0 32.501 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.501 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.502 * [backup-simplify]: Simplify (+ 0 0) into 0 32.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 32.503 * [backup-simplify]: Simplify (+ 0) into 0 32.504 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.504 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.506 * [backup-simplify]: Simplify (- 0) into 0 32.506 * [backup-simplify]: Simplify (+ 0 0) into 0 32.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 32.507 * [backup-simplify]: Simplify (+ 0) into 0 32.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.507 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.509 * [backup-simplify]: Simplify (- 0) into 0 32.509 * [backup-simplify]: Simplify (+ 0 0) into 0 32.510 * [backup-simplify]: Simplify (+ 0) into 0 32.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.510 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.511 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.512 * [backup-simplify]: Simplify (+ 0 0) into 0 32.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 32.513 * [backup-simplify]: Simplify (+ 0) into 0 32.513 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.513 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.515 * [backup-simplify]: Simplify (- 0) into 0 32.516 * [backup-simplify]: Simplify (+ 0 0) into 0 32.516 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 32.516 * [backup-simplify]: Simplify (+ 0) into 0 32.517 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.517 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.519 * [backup-simplify]: Simplify (+ 0 0) into 0 32.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 32.520 * [backup-simplify]: Simplify (+ 0 0) into 0 32.520 * [backup-simplify]: Simplify (- 0) into 0 32.521 * [backup-simplify]: Simplify (+ 0 0) into 0 32.523 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 32.526 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 32.533 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 32.535 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.536 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.536 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.537 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.537 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.538 * [backup-simplify]: Simplify (- 0) into 0 32.538 * [backup-simplify]: Simplify (+ 0 0) into 0 32.539 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 32.540 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.541 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.541 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.542 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.543 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.543 * [backup-simplify]: Simplify (+ 0 0) into 0 32.544 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 32.545 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 32.546 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 32.547 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.547 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.548 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.549 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.549 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.550 * [backup-simplify]: Simplify (+ 0 0) into 0 32.550 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.551 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 32.552 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2))))) into 0 32.553 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.553 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.553 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.554 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.554 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.554 * [backup-simplify]: Simplify (- 0) into 0 32.555 * [backup-simplify]: Simplify (+ 0 0) into 0 32.555 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.556 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 4) (pow (sin (/ -0.5 phi2)) 4)))))) into 0 32.556 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 32.557 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 32.557 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.558 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.558 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.559 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.559 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.559 * [backup-simplify]: Simplify (- 0) into 0 32.559 * [backup-simplify]: Simplify (+ 0 0) into 0 32.560 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.560 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.561 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.561 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.562 * [backup-simplify]: Simplify (- 0) into 0 32.562 * [backup-simplify]: Simplify (+ 0 0) into 0 32.563 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 32.563 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 32.564 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.564 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.564 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.570 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.571 * [backup-simplify]: Simplify (+ 0 0) into 0 32.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.572 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.572 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.573 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.573 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.573 * [backup-simplify]: Simplify (+ 0 0) into 0 32.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 32.574 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 32.575 * [backup-simplify]: Simplify (+ 0 0) into 0 32.575 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.576 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.576 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.577 * [backup-simplify]: Simplify (+ 0 0) into 0 32.577 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.579 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.579 * [backup-simplify]: Simplify (- 0) into 0 32.579 * [backup-simplify]: Simplify (+ 0 0) into 0 32.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.581 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.581 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.582 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.583 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.584 * [backup-simplify]: Simplify (+ 0 0) into 0 32.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 32.585 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.586 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.587 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.588 * [backup-simplify]: Simplify (- 0) into 0 32.589 * [backup-simplify]: Simplify (+ 0 0) into 0 32.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 32.590 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.591 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.591 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.592 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.593 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.593 * [backup-simplify]: Simplify (- 0) into 0 32.593 * [backup-simplify]: Simplify (+ 0 0) into 0 32.594 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.594 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.595 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.595 * [backup-simplify]: Simplify (+ 0 0) into 0 32.596 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.596 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.597 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.597 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.597 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.598 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.598 * [backup-simplify]: Simplify (- 0) into 0 32.598 * [backup-simplify]: Simplify (+ 0 0) into 0 32.599 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 32.599 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.600 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.600 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.600 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.601 * [backup-simplify]: Simplify (+ 0 0) into 0 32.602 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 32.602 * [backup-simplify]: Simplify (+ 0 0) into 0 32.602 * [backup-simplify]: Simplify (- 0) into 0 32.602 * [backup-simplify]: Simplify (+ 0 0) into 0 32.604 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 32.605 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 32.610 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 32.614 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 32.618 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 32.622 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 32.627 * [backup-simplify]: Simplify (+ (* 5/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 32.628 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.629 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.630 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.630 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.630 * [backup-simplify]: Simplify (- 0) into 0 32.631 * [backup-simplify]: Simplify (+ 0 0) into 0 32.631 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.631 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.632 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.632 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.633 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.633 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.633 * [backup-simplify]: Simplify (- 0) into 0 32.633 * [backup-simplify]: Simplify (+ 0 0) into 0 32.634 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 32.634 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 32.635 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.635 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.636 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.636 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.636 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.637 * [backup-simplify]: Simplify (+ 0 0) into 0 32.637 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.638 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.638 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.638 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.639 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.639 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.639 * [backup-simplify]: Simplify (+ 0 0) into 0 32.640 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 32.640 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 32.640 * [backup-simplify]: Simplify (+ 0 0) into 0 32.641 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.642 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.642 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.642 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.643 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.643 * [backup-simplify]: Simplify (- 0) into 0 32.643 * [backup-simplify]: Simplify (+ 0 0) into 0 32.644 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.644 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.644 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.645 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.645 * [backup-simplify]: Simplify (+ 0 0) into 0 32.646 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.646 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.647 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.647 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.647 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.648 * [backup-simplify]: Simplify (+ 0 0) into 0 32.648 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 32.649 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.650 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.650 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.650 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.651 * [backup-simplify]: Simplify (- 0) into 0 32.651 * [backup-simplify]: Simplify (+ 0 0) into 0 32.651 * [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 32.652 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.653 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.654 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.654 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.655 * [backup-simplify]: Simplify (+ 0 0) into 0 32.656 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.656 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.657 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.657 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.658 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.658 * [backup-simplify]: Simplify (- 0) into 0 32.658 * [backup-simplify]: Simplify (+ 0 0) into 0 32.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.659 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.660 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.660 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.660 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.661 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.661 * [backup-simplify]: Simplify (- 0) into 0 32.661 * [backup-simplify]: Simplify (+ 0 0) into 0 32.661 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 32.662 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.662 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.663 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.663 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.663 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.664 * [backup-simplify]: Simplify (+ 0 0) into 0 32.664 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 32.664 * [backup-simplify]: Simplify (+ 0 0) into 0 32.665 * [backup-simplify]: Simplify (- 0) into 0 32.665 * [backup-simplify]: Simplify (+ 0 0) into 0 32.668 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 32.670 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 32.670 * [backup-simplify]: Simplify (+ 0) into 0 32.671 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.671 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.671 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.677 * [backup-simplify]: Simplify (+ 0 0) into 0 32.677 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 32.677 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 32.678 * [backup-simplify]: Simplify (+ 0) into 0 32.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.679 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.680 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.680 * [backup-simplify]: Simplify (+ 0 0) into 0 32.680 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.680 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 32.680 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (* 0 (pow (sin (/ -0.5 phi2)) 3))) into 0 32.681 * [backup-simplify]: Simplify (+ 0) into 0 32.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.681 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.682 * [backup-simplify]: Simplify (- 0) into 0 32.682 * [backup-simplify]: Simplify (+ 0 0) into 0 32.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) into 0 32.683 * [backup-simplify]: Simplify (+ 0) into 0 32.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.684 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.685 * [backup-simplify]: Simplify (- 0) into 0 32.685 * [backup-simplify]: Simplify (+ 0 0) into 0 32.686 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3))))) into 0 32.687 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 32.687 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 32.688 * [backup-simplify]: Simplify (+ 0) into 0 32.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.688 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.689 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.689 * [backup-simplify]: Simplify (- 0) into 0 32.689 * [backup-simplify]: Simplify (+ 0 0) into 0 32.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 32.690 * [backup-simplify]: Simplify (+ 0) into 0 32.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.690 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.691 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.691 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.691 * [backup-simplify]: Simplify (- 0) into 0 32.692 * [backup-simplify]: Simplify (+ 0 0) into 0 32.692 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 32.692 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 32.693 * [backup-simplify]: Simplify (+ 0) into 0 32.693 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.693 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.694 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.694 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.694 * [backup-simplify]: Simplify (+ 0 0) into 0 32.694 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.695 * [backup-simplify]: Simplify (+ 0) into 0 32.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.695 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.696 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.696 * [backup-simplify]: Simplify (+ 0 0) into 0 32.696 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 32.696 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 32.697 * [backup-simplify]: Simplify (+ 0 0) into 0 32.697 * [backup-simplify]: Simplify (+ 0) into 0 32.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.697 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.698 * [backup-simplify]: Simplify (+ 0 0) into 0 32.699 * [backup-simplify]: Simplify (+ 0) into 0 32.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.699 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.700 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.700 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.700 * [backup-simplify]: Simplify (- 0) into 0 32.700 * [backup-simplify]: Simplify (+ 0 0) into 0 32.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.701 * [backup-simplify]: Simplify (+ 0) into 0 32.701 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.701 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.702 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.702 * [backup-simplify]: Simplify (+ 0 0) into 0 32.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 32.703 * [backup-simplify]: Simplify (+ 0) into 0 32.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.703 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.704 * [backup-simplify]: Simplify (- 0) into 0 32.705 * [backup-simplify]: Simplify (+ 0 0) into 0 32.705 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 32.705 * [backup-simplify]: Simplify (+ 0) into 0 32.705 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.705 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.706 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.706 * [backup-simplify]: Simplify (- 0) into 0 32.707 * [backup-simplify]: Simplify (+ 0 0) into 0 32.707 * [backup-simplify]: Simplify (+ 0) into 0 32.707 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.708 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.708 * [backup-simplify]: Simplify (+ 0 0) into 0 32.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 32.709 * [backup-simplify]: Simplify (+ 0) into 0 32.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.709 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.710 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.710 * [backup-simplify]: Simplify (- 0) into 0 32.711 * [backup-simplify]: Simplify (+ 0 0) into 0 32.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 32.711 * [backup-simplify]: Simplify (+ 0) into 0 32.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.711 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.712 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.713 * [backup-simplify]: Simplify (+ 0 0) into 0 32.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 32.713 * [backup-simplify]: Simplify (+ 0 0) into 0 32.713 * [backup-simplify]: Simplify (- 0) into 0 32.713 * [backup-simplify]: Simplify (+ 0 0) into 0 32.715 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 32.716 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 32.723 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 32.724 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.725 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.725 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.726 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.726 * [backup-simplify]: Simplify (+ 0 0) into 0 32.727 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 32.727 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 32.728 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.729 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.729 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.730 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.731 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.731 * [backup-simplify]: Simplify (+ 0 0) into 0 32.732 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.733 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 32.733 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 3)))) into 0 32.734 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.735 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.736 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.737 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.737 * [backup-simplify]: Simplify (- 0) into 0 32.737 * [backup-simplify]: Simplify (+ 0 0) into 0 32.738 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3))))) into 0 32.739 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.740 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.740 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.741 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.742 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.742 * [backup-simplify]: Simplify (- 0) into 0 32.742 * [backup-simplify]: Simplify (+ 0 0) into 0 32.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))))) into 0 32.744 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 32.745 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 32.746 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.747 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.750 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.751 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.751 * [backup-simplify]: Simplify (- 0) into 0 32.752 * [backup-simplify]: Simplify (+ 0 0) into 0 32.752 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.754 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.754 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.755 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.756 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.756 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.756 * [backup-simplify]: Simplify (- 0) into 0 32.757 * [backup-simplify]: Simplify (+ 0 0) into 0 32.757 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 32.758 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 32.758 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.759 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.759 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.759 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.760 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.760 * [backup-simplify]: Simplify (+ 0 0) into 0 32.760 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.761 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.761 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.762 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.762 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.763 * [backup-simplify]: Simplify (+ 0 0) into 0 32.763 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 32.763 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 32.764 * [backup-simplify]: Simplify (+ 0 0) into 0 32.764 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.765 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.765 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.765 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.766 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.766 * [backup-simplify]: Simplify (+ 0 0) into 0 32.767 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.767 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.768 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.768 * [backup-simplify]: Simplify (- 0) into 0 32.769 * [backup-simplify]: Simplify (+ 0 0) into 0 32.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.770 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.770 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.771 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.771 * [backup-simplify]: Simplify (+ 0 0) into 0 32.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 32.772 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.773 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.773 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.774 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.775 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.775 * [backup-simplify]: Simplify (- 0) into 0 32.776 * [backup-simplify]: Simplify (+ 0 0) into 0 32.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 32.777 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.778 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.779 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.780 * [backup-simplify]: Simplify (- 0) into 0 32.780 * [backup-simplify]: Simplify (+ 0 0) into 0 32.781 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.782 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.783 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.783 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.784 * [backup-simplify]: Simplify (+ 0 0) into 0 32.784 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.785 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.786 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.787 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.788 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.788 * [backup-simplify]: Simplify (- 0) into 0 32.789 * [backup-simplify]: Simplify (+ 0 0) into 0 32.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 32.790 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.791 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.791 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.792 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.792 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.793 * [backup-simplify]: Simplify (+ 0 0) into 0 32.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 32.794 * [backup-simplify]: Simplify (+ 0 0) into 0 32.794 * [backup-simplify]: Simplify (- 0) into 0 32.795 * [backup-simplify]: Simplify (+ 0 0) into 0 32.797 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 32.799 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 32.808 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 32.820 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 32.825 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 32.829 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 32.836 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 32.842 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) 32.846 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))) 32.847 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.848 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.848 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.849 * [backup-simplify]: Simplify (- 0) into 0 32.849 * [backup-simplify]: Simplify (+ 0 0) into 0 32.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.850 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.851 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.851 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.852 * [backup-simplify]: Simplify (- 0) into 0 32.852 * [backup-simplify]: Simplify (+ 0 0) into 0 32.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 32.853 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 32.854 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.854 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.855 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.855 * [backup-simplify]: Simplify (+ 0 0) into 0 32.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.856 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.857 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.857 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.858 * [backup-simplify]: Simplify (+ 0 0) into 0 32.858 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 32.859 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 32.859 * [backup-simplify]: Simplify (+ 0 0) into 0 32.860 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.860 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.861 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.861 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.862 * [backup-simplify]: Simplify (- 0) into 0 32.862 * [backup-simplify]: Simplify (+ 0 0) into 0 32.862 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.863 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.863 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.864 * [backup-simplify]: Simplify (+ 0 0) into 0 32.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.865 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.866 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.866 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.867 * [backup-simplify]: Simplify (+ 0 0) into 0 32.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 32.868 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.868 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.869 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.869 * [backup-simplify]: Simplify (- 0) into 0 32.870 * [backup-simplify]: Simplify (+ 0 0) into 0 32.870 * [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 32.871 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.871 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.872 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.872 * [backup-simplify]: Simplify (+ 0 0) into 0 32.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.873 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.874 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.875 * [backup-simplify]: Simplify (- 0) into 0 32.875 * [backup-simplify]: Simplify (+ 0 0) into 0 32.875 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.876 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.877 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.877 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.878 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.878 * [backup-simplify]: Simplify (- 0) into 0 32.879 * [backup-simplify]: Simplify (+ 0 0) into 0 32.879 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 32.880 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.881 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.881 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.882 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.882 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.883 * [backup-simplify]: Simplify (+ 0 0) into 0 32.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 32.884 * [backup-simplify]: Simplify (+ 0 0) into 0 32.885 * [backup-simplify]: Simplify (- 0) into 0 32.885 * [backup-simplify]: Simplify (+ 0 0) into 0 32.889 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 32.894 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 32.906 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 32.912 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 32.912 * [backup-simplify]: Simplify (+ 0) into 0 32.913 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.913 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.915 * [backup-simplify]: Simplify (- 0) into 0 32.915 * [backup-simplify]: Simplify (+ 0 0) into 0 32.915 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 32.916 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 32.916 * [backup-simplify]: Simplify (+ 0) into 0 32.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.917 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.919 * [backup-simplify]: Simplify (+ 0 0) into 0 32.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 32.919 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 4))) into 0 32.920 * [backup-simplify]: Simplify (+ 0) into 0 32.920 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.920 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.921 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.922 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.922 * [backup-simplify]: Simplify (- 0) into 0 32.922 * [backup-simplify]: Simplify (+ 0 0) into 0 32.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 32.923 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 32.923 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) into 0 32.924 * [backup-simplify]: Simplify (+ 0) into 0 32.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.926 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.926 * [backup-simplify]: Simplify (+ 0 0) into 0 32.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.927 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi2)) 2))))) into 0 32.928 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 32.928 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 32.929 * [backup-simplify]: Simplify (+ 0) into 0 32.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.929 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.931 * [backup-simplify]: Simplify (- 0) into 0 32.931 * [backup-simplify]: Simplify (+ 0 0) into 0 32.932 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 32.932 * [backup-simplify]: Simplify (+ 0) into 0 32.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.933 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.935 * [backup-simplify]: Simplify (- 0) into 0 32.935 * [backup-simplify]: Simplify (+ 0 0) into 0 32.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 32.935 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 32.936 * [backup-simplify]: Simplify (+ 0) into 0 32.936 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.937 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.938 * [backup-simplify]: Simplify (+ 0 0) into 0 32.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.939 * [backup-simplify]: Simplify (+ 0) into 0 32.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.939 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.940 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.940 * [backup-simplify]: Simplify (+ 0 0) into 0 32.940 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 32.941 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 32.941 * [backup-simplify]: Simplify (+ 0 0) into 0 32.941 * [backup-simplify]: Simplify (+ 0) into 0 32.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.942 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.942 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.943 * [backup-simplify]: Simplify (+ 0 0) into 0 32.943 * [backup-simplify]: Simplify (+ 0) into 0 32.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.943 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.944 * [backup-simplify]: Simplify (- 0) into 0 32.945 * [backup-simplify]: Simplify (+ 0 0) into 0 32.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 32.945 * [backup-simplify]: Simplify (+ 0) into 0 32.945 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.946 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.947 * [backup-simplify]: Simplify (+ 0 0) into 0 32.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 32.947 * [backup-simplify]: Simplify (+ 0) into 0 32.947 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.947 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.948 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.948 * [backup-simplify]: Simplify (- 0) into 0 32.949 * [backup-simplify]: Simplify (+ 0 0) into 0 32.949 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 32.949 * [backup-simplify]: Simplify (+ 0) into 0 32.950 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.950 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.956 * [backup-simplify]: Simplify (- 0) into 0 32.956 * [backup-simplify]: Simplify (+ 0 0) into 0 32.957 * [backup-simplify]: Simplify (+ 0) into 0 32.957 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 32.958 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 32.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.959 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 32.959 * [backup-simplify]: Simplify (+ 0 0) into 0 32.960 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 32.960 * [backup-simplify]: Simplify (+ 0) into 0 32.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.961 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.962 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.962 * [backup-simplify]: Simplify (- 0) into 0 32.963 * [backup-simplify]: Simplify (+ 0 0) into 0 32.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 32.963 * [backup-simplify]: Simplify (+ 0) into 0 32.964 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 32.964 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 32.965 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 32.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 32.966 * [backup-simplify]: Simplify (+ 0 0) into 0 32.966 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 32.967 * [backup-simplify]: Simplify (+ 0 0) into 0 32.967 * [backup-simplify]: Simplify (- 0) into 0 32.967 * [backup-simplify]: Simplify (+ 0 0) into 0 32.971 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 32.973 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 32.980 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 32.981 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.981 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.981 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.982 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.983 * [backup-simplify]: Simplify (- 0) into 0 32.983 * [backup-simplify]: Simplify (+ 0 0) into 0 32.983 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 32.984 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 32.984 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.985 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.985 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.986 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.986 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.986 * [backup-simplify]: Simplify (+ 0 0) into 0 32.987 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 32.987 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 4)))) into 0 32.988 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 32.988 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 32.989 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.989 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 32.990 * [backup-simplify]: Simplify (- 0) into 0 32.991 * [backup-simplify]: Simplify (+ 0 0) into 0 32.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 32.992 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 32.993 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4))))) into 0 32.994 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 32.995 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 32.995 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 32.996 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 32.997 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 32.997 * [backup-simplify]: Simplify (+ 0 0) into 0 32.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 32.999 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi2)) 2)))))) into 0 33.000 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 33.001 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 33.002 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.003 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.004 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.004 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.005 * [backup-simplify]: Simplify (- 0) into 0 33.005 * [backup-simplify]: Simplify (+ 0 0) into 0 33.006 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.007 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.007 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.008 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.008 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.009 * [backup-simplify]: Simplify (- 0) into 0 33.010 * [backup-simplify]: Simplify (+ 0 0) into 0 33.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.011 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 33.012 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.013 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.013 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.014 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.014 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.015 * [backup-simplify]: Simplify (+ 0 0) into 0 33.015 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.016 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.017 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.017 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.018 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.019 * [backup-simplify]: Simplify (+ 0 0) into 0 33.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 33.020 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 33.020 * [backup-simplify]: Simplify (+ 0 0) into 0 33.021 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.022 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.022 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.023 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.024 * [backup-simplify]: Simplify (+ 0 0) into 0 33.025 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.025 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.026 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.026 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.027 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.027 * [backup-simplify]: Simplify (- 0) into 0 33.028 * [backup-simplify]: Simplify (+ 0 0) into 0 33.028 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.029 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.030 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.030 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.031 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.032 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.032 * [backup-simplify]: Simplify (+ 0 0) into 0 33.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 33.034 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.034 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.034 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.035 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.036 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.036 * [backup-simplify]: Simplify (- 0) into 0 33.037 * [backup-simplify]: Simplify (+ 0 0) into 0 33.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 33.038 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.039 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.039 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.040 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.040 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.041 * [backup-simplify]: Simplify (- 0) into 0 33.041 * [backup-simplify]: Simplify (+ 0 0) into 0 33.042 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.043 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.043 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.044 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.044 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.044 * [backup-simplify]: Simplify (+ 0 0) into 0 33.045 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.046 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.047 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.047 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.048 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.048 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.049 * [backup-simplify]: Simplify (- 0) into 0 33.049 * [backup-simplify]: Simplify (+ 0 0) into 0 33.050 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 33.050 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.051 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.051 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.052 * [backup-simplify]: Simplify (+ 0 0) into 0 33.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 33.053 * [backup-simplify]: Simplify (+ 0 0) into 0 33.053 * [backup-simplify]: Simplify (- 0) into 0 33.053 * [backup-simplify]: Simplify (+ 0 0) into 0 33.054 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 33.056 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 33.061 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 33.065 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 33.069 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 33.072 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 33.077 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 4) (* (pow (sin (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 33.078 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.079 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.079 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.079 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.080 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.080 * [backup-simplify]: Simplify (- 0) into 0 33.080 * [backup-simplify]: Simplify (+ 0 0) into 0 33.081 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.081 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.082 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.082 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.083 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.083 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.083 * [backup-simplify]: Simplify (- 0) into 0 33.089 * [backup-simplify]: Simplify (+ 0 0) into 0 33.089 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.090 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 33.091 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.092 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.092 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.093 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.093 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.094 * [backup-simplify]: Simplify (+ 0 0) into 0 33.094 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.095 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.096 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.096 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.096 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.097 * [backup-simplify]: Simplify (+ 0 0) into 0 33.097 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 33.098 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 33.098 * [backup-simplify]: Simplify (+ 0 0) into 0 33.099 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.099 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.099 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.100 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.100 * [backup-simplify]: Simplify (- 0) into 0 33.101 * [backup-simplify]: Simplify (+ 0 0) into 0 33.101 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.102 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.102 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.102 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.103 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.103 * [backup-simplify]: Simplify (+ 0 0) into 0 33.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.104 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.104 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.105 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.105 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.106 * [backup-simplify]: Simplify (+ 0 0) into 0 33.106 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 33.107 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.107 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.107 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.108 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.108 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.108 * [backup-simplify]: Simplify (- 0) into 0 33.108 * [backup-simplify]: Simplify (+ 0 0) into 0 33.109 * [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 33.110 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.110 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.111 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.111 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.111 * [backup-simplify]: Simplify (+ 0 0) into 0 33.112 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.114 * [backup-simplify]: Simplify (- 0) into 0 33.115 * [backup-simplify]: Simplify (+ 0 0) into 0 33.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.116 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.118 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.119 * [backup-simplify]: Simplify (- 0) into 0 33.119 * [backup-simplify]: Simplify (+ 0 0) into 0 33.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 33.121 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.121 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.121 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.122 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.123 * [backup-simplify]: Simplify (+ 0 0) into 0 33.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 33.124 * [backup-simplify]: Simplify (+ 0 0) into 0 33.124 * [backup-simplify]: Simplify (- 0) into 0 33.125 * [backup-simplify]: Simplify (+ 0 0) into 0 33.127 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 33.130 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 33.142 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 33.145 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 33.145 * [backup-simplify]: Simplify (+ 0) into 0 33.146 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.146 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.147 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.147 * [backup-simplify]: Simplify (+ 0 0) into 0 33.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 33.147 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 33.147 * [backup-simplify]: Simplify (+ 0) into 0 33.148 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.148 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.149 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.149 * [backup-simplify]: Simplify (- 0) into 0 33.149 * [backup-simplify]: Simplify (+ 0 0) into 0 33.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 33.150 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 4))) into 0 33.150 * [backup-simplify]: Simplify (+ 0) into 0 33.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.150 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.151 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.151 * [backup-simplify]: Simplify (+ 0 0) into 0 33.151 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 33.152 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 33.152 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 4) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) into 0 33.152 * [backup-simplify]: Simplify (+ 0) into 0 33.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.153 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.153 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.154 * [backup-simplify]: Simplify (- 0) into 0 33.154 * [backup-simplify]: Simplify (+ 0 0) into 0 33.154 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 33.155 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2))))) into 0 33.155 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 33.155 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 33.156 * [backup-simplify]: Simplify (+ 0) into 0 33.156 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.156 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.157 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.157 * [backup-simplify]: Simplify (- 0) into 0 33.157 * [backup-simplify]: Simplify (+ 0 0) into 0 33.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 33.158 * [backup-simplify]: Simplify (+ 0) into 0 33.158 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.158 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.159 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.159 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.159 * [backup-simplify]: Simplify (- 0) into 0 33.159 * [backup-simplify]: Simplify (+ 0 0) into 0 33.160 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 33.160 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 33.160 * [backup-simplify]: Simplify (+ 0) into 0 33.160 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.161 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.162 * [backup-simplify]: Simplify (+ 0 0) into 0 33.162 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 33.162 * [backup-simplify]: Simplify (+ 0) into 0 33.162 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.162 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.163 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.163 * [backup-simplify]: Simplify (+ 0 0) into 0 33.164 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 33.164 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 33.164 * [backup-simplify]: Simplify (+ 0 0) into 0 33.164 * [backup-simplify]: Simplify (+ 0) into 0 33.165 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.165 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.166 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.166 * [backup-simplify]: Simplify (+ 0 0) into 0 33.166 * [backup-simplify]: Simplify (+ 0) into 0 33.167 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.167 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.167 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.167 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.168 * [backup-simplify]: Simplify (- 0) into 0 33.168 * [backup-simplify]: Simplify (+ 0 0) into 0 33.169 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 33.169 * [backup-simplify]: Simplify (+ 0) into 0 33.170 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.170 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.171 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.172 * [backup-simplify]: Simplify (+ 0 0) into 0 33.172 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 33.173 * [backup-simplify]: Simplify (+ 0) into 0 33.173 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.173 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.174 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.175 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.175 * [backup-simplify]: Simplify (- 0) into 0 33.175 * [backup-simplify]: Simplify (+ 0 0) into 0 33.176 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 33.176 * [backup-simplify]: Simplify (+ 0) into 0 33.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.177 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.178 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.179 * [backup-simplify]: Simplify (- 0) into 0 33.179 * [backup-simplify]: Simplify (+ 0 0) into 0 33.179 * [backup-simplify]: Simplify (+ 0) into 0 33.180 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.180 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.182 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.182 * [backup-simplify]: Simplify (+ 0 0) into 0 33.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 33.183 * [backup-simplify]: Simplify (+ 0) into 0 33.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.183 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.184 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.185 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.185 * [backup-simplify]: Simplify (- 0) into 0 33.186 * [backup-simplify]: Simplify (+ 0 0) into 0 33.186 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 33.186 * [backup-simplify]: Simplify (+ 0) into 0 33.187 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.187 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.189 * [backup-simplify]: Simplify (+ 0 0) into 0 33.189 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 33.190 * [backup-simplify]: Simplify (+ 0 0) into 0 33.190 * [backup-simplify]: Simplify (- 0) into 0 33.191 * [backup-simplify]: Simplify (+ 0 0) into 0 33.193 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 33.195 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 33.203 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 33.205 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.206 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.207 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.208 * [backup-simplify]: Simplify (+ 0 0) into 0 33.208 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 33.209 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 33.209 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.210 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.210 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.210 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.211 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.211 * [backup-simplify]: Simplify (- 0) into 0 33.211 * [backup-simplify]: Simplify (+ 0 0) into 0 33.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.212 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 4)))) into 0 33.213 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.213 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.214 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.214 * [backup-simplify]: Simplify (+ 0 0) into 0 33.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.220 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 33.221 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 4) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4))))) into 0 33.222 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.224 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.224 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.225 * [backup-simplify]: Simplify (- 0) into 0 33.225 * [backup-simplify]: Simplify (+ 0 0) into 0 33.226 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.226 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (sin (/ -0.5 phi1)) 4) (pow (cos (/ -0.5 phi1)) 2)))))) into 0 33.227 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 33.228 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 33.228 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.229 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.229 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.230 * [backup-simplify]: Simplify (- 0) into 0 33.230 * [backup-simplify]: Simplify (+ 0 0) into 0 33.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.231 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.232 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.232 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.233 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.233 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.233 * [backup-simplify]: Simplify (- 0) into 0 33.233 * [backup-simplify]: Simplify (+ 0 0) into 0 33.234 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.234 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 33.235 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.236 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.236 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.236 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.237 * [backup-simplify]: Simplify (+ 0 0) into 0 33.237 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.238 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.238 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.238 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.239 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.239 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.240 * [backup-simplify]: Simplify (+ 0 0) into 0 33.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 33.240 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 33.241 * [backup-simplify]: Simplify (+ 0 0) into 0 33.241 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.242 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.242 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.242 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.243 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.243 * [backup-simplify]: Simplify (+ 0 0) into 0 33.244 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.244 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.244 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.245 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.245 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.245 * [backup-simplify]: Simplify (- 0) into 0 33.245 * [backup-simplify]: Simplify (+ 0 0) into 0 33.246 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.246 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.247 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.247 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.247 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.248 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.248 * [backup-simplify]: Simplify (+ 0 0) into 0 33.248 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 33.249 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.249 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.250 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.250 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.250 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.251 * [backup-simplify]: Simplify (- 0) into 0 33.251 * [backup-simplify]: Simplify (+ 0 0) into 0 33.251 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 33.252 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.252 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.253 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.253 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.253 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.254 * [backup-simplify]: Simplify (- 0) into 0 33.254 * [backup-simplify]: Simplify (+ 0 0) into 0 33.254 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.255 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.255 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.256 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.256 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.256 * [backup-simplify]: Simplify (+ 0 0) into 0 33.256 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.257 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.257 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.258 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.258 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.259 * [backup-simplify]: Simplify (- 0) into 0 33.259 * [backup-simplify]: Simplify (+ 0 0) into 0 33.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 33.260 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.261 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.261 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.262 * [backup-simplify]: Simplify (+ 0 0) into 0 33.262 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 33.263 * [backup-simplify]: Simplify (+ 0 0) into 0 33.263 * [backup-simplify]: Simplify (- 0) into 0 33.263 * [backup-simplify]: Simplify (+ 0 0) into 0 33.265 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 33.266 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 33.271 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 33.275 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 33.279 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 33.283 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi1)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 4)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 33.291 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 4) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 4)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 33.292 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.293 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.294 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.295 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.295 * [backup-simplify]: Simplify (- 0) into 0 33.296 * [backup-simplify]: Simplify (+ 0 0) into 0 33.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.297 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.298 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.298 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.299 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.300 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.300 * [backup-simplify]: Simplify (- 0) into 0 33.301 * [backup-simplify]: Simplify (+ 0 0) into 0 33.301 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.302 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 33.303 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.304 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.304 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.305 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.305 * [backup-simplify]: Simplify (+ 0 0) into 0 33.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.306 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.307 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.307 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.307 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.308 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.308 * [backup-simplify]: Simplify (+ 0 0) into 0 33.308 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 33.309 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 33.309 * [backup-simplify]: Simplify (+ 0 0) into 0 33.310 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.310 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.310 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.311 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.311 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.311 * [backup-simplify]: Simplify (- 0) into 0 33.312 * [backup-simplify]: Simplify (+ 0 0) into 0 33.312 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.313 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.313 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.314 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.314 * [backup-simplify]: Simplify (+ 0 0) into 0 33.314 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.315 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.315 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.315 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.316 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.316 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.317 * [backup-simplify]: Simplify (+ 0 0) into 0 33.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 33.317 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.318 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.319 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.319 * [backup-simplify]: Simplify (- 0) into 0 33.319 * [backup-simplify]: Simplify (+ 0 0) into 0 33.320 * [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 33.320 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.321 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.321 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.322 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.322 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.322 * [backup-simplify]: Simplify (+ 0 0) into 0 33.323 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.323 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.323 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.324 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.324 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.325 * [backup-simplify]: Simplify (- 0) into 0 33.325 * [backup-simplify]: Simplify (+ 0 0) into 0 33.325 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.331 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.332 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.332 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.332 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.333 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.333 * [backup-simplify]: Simplify (- 0) into 0 33.333 * [backup-simplify]: Simplify (+ 0 0) into 0 33.334 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 33.334 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.335 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.336 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.336 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.336 * [backup-simplify]: Simplify (+ 0 0) into 0 33.337 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 33.337 * [backup-simplify]: Simplify (+ 0 0) into 0 33.337 * [backup-simplify]: Simplify (- 0) into 0 33.338 * [backup-simplify]: Simplify (+ 0 0) into 0 33.342 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 33.344 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 33.344 * [backup-simplify]: Simplify (+ 0) into 0 33.345 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.345 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.346 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.346 * [backup-simplify]: Simplify (- 0) into 0 33.346 * [backup-simplify]: Simplify (+ 0 0) into 0 33.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 33.347 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 33.347 * [backup-simplify]: Simplify (+ 0) into 0 33.347 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.347 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.348 * [backup-simplify]: Simplify (- 0) into 0 33.349 * [backup-simplify]: Simplify (+ 0 0) into 0 33.349 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 33.349 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 33.349 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (pow (cos (/ -0.5 phi2)) 3))) into 0 33.350 * [backup-simplify]: Simplify (+ 0) into 0 33.350 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.350 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.351 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.351 * [backup-simplify]: Simplify (+ 0 0) into 0 33.351 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) into 0 33.352 * [backup-simplify]: Simplify (+ 0) into 0 33.352 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.352 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.353 * [backup-simplify]: Simplify (+ 0 0) into 0 33.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3))))) into 0 33.354 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 33.354 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 33.355 * [backup-simplify]: Simplify (+ 0) into 0 33.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.356 * [backup-simplify]: Simplify (- 0) into 0 33.356 * [backup-simplify]: Simplify (+ 0 0) into 0 33.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 33.357 * [backup-simplify]: Simplify (+ 0) into 0 33.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.357 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.358 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.358 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.358 * [backup-simplify]: Simplify (- 0) into 0 33.359 * [backup-simplify]: Simplify (+ 0 0) into 0 33.359 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 33.359 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 33.359 * [backup-simplify]: Simplify (+ 0) into 0 33.360 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.360 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.360 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.361 * [backup-simplify]: Simplify (+ 0 0) into 0 33.361 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 33.361 * [backup-simplify]: Simplify (+ 0) into 0 33.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.362 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.362 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.363 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.363 * [backup-simplify]: Simplify (+ 0 0) into 0 33.363 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 33.363 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 33.364 * [backup-simplify]: Simplify (+ 0 0) into 0 33.364 * [backup-simplify]: Simplify (+ 0) into 0 33.364 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.364 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.365 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.365 * [backup-simplify]: Simplify (+ 0 0) into 0 33.366 * [backup-simplify]: Simplify (+ 0) into 0 33.366 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.366 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.367 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.367 * [backup-simplify]: Simplify (- 0) into 0 33.367 * [backup-simplify]: Simplify (+ 0 0) into 0 33.368 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 33.368 * [backup-simplify]: Simplify (+ 0) into 0 33.368 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.368 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.369 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.369 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.370 * [backup-simplify]: Simplify (+ 0 0) into 0 33.370 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 33.370 * [backup-simplify]: Simplify (+ 0) into 0 33.371 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.371 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.371 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.372 * [backup-simplify]: Simplify (- 0) into 0 33.372 * [backup-simplify]: Simplify (+ 0 0) into 0 33.372 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 33.372 * [backup-simplify]: Simplify (+ 0) into 0 33.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.373 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.374 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.374 * [backup-simplify]: Simplify (- 0) into 0 33.374 * [backup-simplify]: Simplify (+ 0 0) into 0 33.374 * [backup-simplify]: Simplify (+ 0) into 0 33.375 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.375 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.376 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.376 * [backup-simplify]: Simplify (+ 0 0) into 0 33.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 33.376 * [backup-simplify]: Simplify (+ 0) into 0 33.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.377 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.377 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.378 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.378 * [backup-simplify]: Simplify (- 0) into 0 33.378 * [backup-simplify]: Simplify (+ 0 0) into 0 33.378 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 33.378 * [backup-simplify]: Simplify (+ 0) into 0 33.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.379 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.380 * [backup-simplify]: Simplify (+ 0 0) into 0 33.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 33.381 * [backup-simplify]: Simplify (+ 0 0) into 0 33.381 * [backup-simplify]: Simplify (- 0) into 0 33.381 * [backup-simplify]: Simplify (+ 0 0) into 0 33.384 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 33.386 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 33.393 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 33.395 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.395 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.396 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.397 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.397 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.398 * [backup-simplify]: Simplify (- 0) into 0 33.398 * [backup-simplify]: Simplify (+ 0 0) into 0 33.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.399 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 33.400 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.401 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.401 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.402 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.402 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.403 * [backup-simplify]: Simplify (- 0) into 0 33.403 * [backup-simplify]: Simplify (+ 0 0) into 0 33.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 33.405 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 3)))) into 0 33.406 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.406 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.407 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.407 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.408 * [backup-simplify]: Simplify (+ 0 0) into 0 33.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3))))) into 0 33.410 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.411 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.412 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.413 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.413 * [backup-simplify]: Simplify (+ 0 0) into 0 33.414 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))))) into 0 33.415 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 33.416 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 33.417 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.418 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.418 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.419 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.419 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.420 * [backup-simplify]: Simplify (- 0) into 0 33.420 * [backup-simplify]: Simplify (+ 0 0) into 0 33.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.422 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.422 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.423 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.423 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.424 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.424 * [backup-simplify]: Simplify (- 0) into 0 33.425 * [backup-simplify]: Simplify (+ 0 0) into 0 33.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.426 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 33.427 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.428 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.428 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.429 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.430 * [backup-simplify]: Simplify (+ 0 0) into 0 33.431 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.431 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.432 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.432 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.433 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.434 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.434 * [backup-simplify]: Simplify (+ 0 0) into 0 33.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 33.436 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 33.436 * [backup-simplify]: Simplify (+ 0 0) into 0 33.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.440 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.440 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.441 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.441 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.442 * [backup-simplify]: Simplify (+ 0 0) into 0 33.443 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.443 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.444 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.444 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.445 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.445 * [backup-simplify]: Simplify (- 0) into 0 33.446 * [backup-simplify]: Simplify (+ 0 0) into 0 33.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.447 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.448 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.448 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.449 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.450 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.450 * [backup-simplify]: Simplify (+ 0 0) into 0 33.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 33.452 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.453 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.453 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.454 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.455 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.455 * [backup-simplify]: Simplify (- 0) into 0 33.456 * [backup-simplify]: Simplify (+ 0 0) into 0 33.456 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 33.457 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.458 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.458 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.459 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.460 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.460 * [backup-simplify]: Simplify (- 0) into 0 33.460 * [backup-simplify]: Simplify (+ 0 0) into 0 33.461 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.462 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.462 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.471 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.472 * [backup-simplify]: Simplify (+ 0 0) into 0 33.473 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.474 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.474 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.475 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.475 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.476 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.476 * [backup-simplify]: Simplify (- 0) into 0 33.477 * [backup-simplify]: Simplify (+ 0 0) into 0 33.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 33.478 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.479 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.479 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.480 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.481 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.481 * [backup-simplify]: Simplify (+ 0 0) into 0 33.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 33.482 * [backup-simplify]: Simplify (+ 0 0) into 0 33.483 * [backup-simplify]: Simplify (- 0) into 0 33.483 * [backup-simplify]: Simplify (+ 0 0) into 0 33.486 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 33.488 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 33.497 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 33.503 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 33.507 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 33.512 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 33.519 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 33.521 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.522 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.523 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.525 * [backup-simplify]: Simplify (- 0) into 0 33.525 * [backup-simplify]: Simplify (+ 0 0) into 0 33.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.526 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.527 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.527 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.528 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.529 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.529 * [backup-simplify]: Simplify (- 0) into 0 33.529 * [backup-simplify]: Simplify (+ 0 0) into 0 33.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.531 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 33.532 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.532 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.533 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.533 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.534 * [backup-simplify]: Simplify (+ 0 0) into 0 33.535 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.536 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.537 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.537 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.538 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.538 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.539 * [backup-simplify]: Simplify (+ 0 0) into 0 33.539 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 33.540 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 33.540 * [backup-simplify]: Simplify (+ 0 0) into 0 33.541 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.541 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.541 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.542 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.542 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.543 * [backup-simplify]: Simplify (- 0) into 0 33.543 * [backup-simplify]: Simplify (+ 0 0) into 0 33.543 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.544 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.544 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.544 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.545 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.545 * [backup-simplify]: Simplify (+ 0 0) into 0 33.545 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.546 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.546 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.546 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.547 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.547 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.548 * [backup-simplify]: Simplify (+ 0 0) into 0 33.548 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 33.549 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.549 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.549 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.550 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.550 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.550 * [backup-simplify]: Simplify (- 0) into 0 33.550 * [backup-simplify]: Simplify (+ 0 0) into 0 33.551 * [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 33.551 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.552 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.552 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.553 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.553 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.553 * [backup-simplify]: Simplify (+ 0 0) into 0 33.554 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.554 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.554 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.555 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.555 * [backup-simplify]: Simplify (- 0) into 0 33.556 * [backup-simplify]: Simplify (+ 0 0) into 0 33.556 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.557 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.557 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.558 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.558 * [backup-simplify]: Simplify (- 0) into 0 33.559 * [backup-simplify]: Simplify (+ 0 0) into 0 33.559 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 33.560 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.560 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.561 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.561 * [backup-simplify]: Simplify (+ 0 0) into 0 33.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 33.562 * [backup-simplify]: Simplify (+ 0 0) into 0 33.562 * [backup-simplify]: Simplify (- 0) into 0 33.562 * [backup-simplify]: Simplify (+ 0 0) into 0 33.565 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 33.567 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 33.574 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 33.577 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 33.578 * [backup-simplify]: Simplify (+ 0) into 0 33.578 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.579 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.579 * [backup-simplify]: Simplify (+ 0 0) into 0 33.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 33.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 33.580 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (* 0 (pow (sin (/ -0.5 phi1)) 3))) into 0 33.580 * [backup-simplify]: Simplify (+ 0) into 0 33.581 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.581 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.582 * [backup-simplify]: Simplify (+ 0 0) into 0 33.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 33.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 33.582 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (pow (sin (/ -0.5 phi2)) 3))) into 0 33.582 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 6) 0) (* 0 (pow (sin (/ -0.5 phi1)) 6))) into 0 33.583 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 33.584 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 33.584 * [backup-simplify]: Simplify (+ 0) into 0 33.584 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.586 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.586 * [backup-simplify]: Simplify (- 0) into 0 33.587 * [backup-simplify]: Simplify (+ 0 0) into 0 33.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 33.587 * [backup-simplify]: Simplify (+ 0) into 0 33.588 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.589 * [backup-simplify]: Simplify (- 0) into 0 33.590 * [backup-simplify]: Simplify (+ 0 0) into 0 33.591 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 33.591 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 33.591 * [backup-simplify]: Simplify (+ 0) into 0 33.592 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.592 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.594 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.594 * [backup-simplify]: Simplify (+ 0 0) into 0 33.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 33.595 * [backup-simplify]: Simplify (+ 0) into 0 33.595 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.595 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.596 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.596 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.597 * [backup-simplify]: Simplify (+ 0 0) into 0 33.597 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 33.597 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 33.598 * [backup-simplify]: Simplify (+ 0 0) into 0 33.598 * [backup-simplify]: Simplify (+ 0) into 0 33.599 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.599 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.600 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.600 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.600 * [backup-simplify]: Simplify (+ 0 0) into 0 33.601 * [backup-simplify]: Simplify (+ 0) into 0 33.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.601 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.611 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.612 * [backup-simplify]: Simplify (- 0) into 0 33.612 * [backup-simplify]: Simplify (+ 0 0) into 0 33.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 33.613 * [backup-simplify]: Simplify (+ 0) into 0 33.613 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.613 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.614 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.615 * [backup-simplify]: Simplify (+ 0 0) into 0 33.615 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 33.616 * [backup-simplify]: Simplify (+ 0) into 0 33.616 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.616 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.617 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.618 * [backup-simplify]: Simplify (- 0) into 0 33.618 * [backup-simplify]: Simplify (+ 0 0) into 0 33.619 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 33.619 * [backup-simplify]: Simplify (+ 0) into 0 33.620 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.620 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.621 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.621 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.622 * [backup-simplify]: Simplify (- 0) into 0 33.622 * [backup-simplify]: Simplify (+ 0 0) into 0 33.622 * [backup-simplify]: Simplify (+ 0) into 0 33.623 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.623 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.624 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.624 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.625 * [backup-simplify]: Simplify (+ 0 0) into 0 33.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 33.625 * [backup-simplify]: Simplify (+ 0) into 0 33.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.626 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.627 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.628 * [backup-simplify]: Simplify (- 0) into 0 33.628 * [backup-simplify]: Simplify (+ 0 0) into 0 33.628 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 33.629 * [backup-simplify]: Simplify (+ 0) into 0 33.629 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.629 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.631 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.631 * [backup-simplify]: Simplify (+ 0 0) into 0 33.631 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 33.632 * [backup-simplify]: Simplify (+ 0 0) into 0 33.632 * [backup-simplify]: Simplify (- 0) into 0 33.633 * [backup-simplify]: Simplify (+ 0 0) into 0 33.636 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 33.638 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 33.644 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 33.646 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.646 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.647 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.647 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.648 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.649 * [backup-simplify]: Simplify (+ 0 0) into 0 33.649 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.650 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 33.651 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 3)))) into 0 33.652 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.652 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.653 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.653 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.654 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.654 * [backup-simplify]: Simplify (+ 0 0) into 0 33.655 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 33.656 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 33.657 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 3)))) into 0 33.657 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 6) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 6)))) into 0 33.658 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 33.659 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 33.660 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.661 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.662 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.662 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.663 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.663 * [backup-simplify]: Simplify (- 0) into 0 33.664 * [backup-simplify]: Simplify (+ 0 0) into 0 33.664 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.665 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.666 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.666 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.667 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.668 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.668 * [backup-simplify]: Simplify (- 0) into 0 33.669 * [backup-simplify]: Simplify (+ 0 0) into 0 33.669 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.670 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 33.671 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.672 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.672 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.673 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.674 * [backup-simplify]: Simplify (+ 0 0) into 0 33.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.676 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.677 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.678 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.679 * [backup-simplify]: Simplify (+ 0 0) into 0 33.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 33.680 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 33.680 * [backup-simplify]: Simplify (+ 0 0) into 0 33.681 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.682 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.683 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.684 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.684 * [backup-simplify]: Simplify (+ 0 0) into 0 33.685 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.686 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.686 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.687 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.688 * [backup-simplify]: Simplify (- 0) into 0 33.688 * [backup-simplify]: Simplify (+ 0 0) into 0 33.689 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.690 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.691 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.691 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.692 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.692 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.693 * [backup-simplify]: Simplify (+ 0 0) into 0 33.694 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 33.695 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.695 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.696 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.697 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.698 * [backup-simplify]: Simplify (- 0) into 0 33.698 * [backup-simplify]: Simplify (+ 0 0) into 0 33.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 33.700 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.701 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.702 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.703 * [backup-simplify]: Simplify (- 0) into 0 33.703 * [backup-simplify]: Simplify (+ 0 0) into 0 33.704 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.705 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.706 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.707 * [backup-simplify]: Simplify (+ 0 0) into 0 33.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.708 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.710 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.710 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.712 * [backup-simplify]: Simplify (- 0) into 0 33.712 * [backup-simplify]: Simplify (+ 0 0) into 0 33.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 33.714 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.715 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.715 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.716 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.717 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.717 * [backup-simplify]: Simplify (+ 0 0) into 0 33.718 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 33.718 * [backup-simplify]: Simplify (+ 0 0) into 0 33.719 * [backup-simplify]: Simplify (- 0) into 0 33.719 * [backup-simplify]: Simplify (+ 0 0) into 0 33.722 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 33.724 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 33.733 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 33.741 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 33.747 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 33.754 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 33.763 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 6) (pow (sin (/ -0.5 phi1)) 6)) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) into 0 33.764 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.765 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.766 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.767 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.767 * [backup-simplify]: Simplify (- 0) into 0 33.768 * [backup-simplify]: Simplify (+ 0 0) into 0 33.768 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.769 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.771 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.772 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.773 * [backup-simplify]: Simplify (- 0) into 0 33.773 * [backup-simplify]: Simplify (+ 0 0) into 0 33.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.775 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 33.776 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.784 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.784 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.785 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.786 * [backup-simplify]: Simplify (+ 0 0) into 0 33.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.788 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.788 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.788 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.789 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.789 * [backup-simplify]: Simplify (+ 0 0) into 0 33.790 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 33.790 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 33.791 * [backup-simplify]: Simplify (+ 0 0) into 0 33.791 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.792 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.792 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.792 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.793 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.793 * [backup-simplify]: Simplify (- 0) into 0 33.793 * [backup-simplify]: Simplify (+ 0 0) into 0 33.794 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.794 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.795 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.795 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.795 * [backup-simplify]: Simplify (+ 0 0) into 0 33.796 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.796 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.797 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.797 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.797 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.798 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.798 * [backup-simplify]: Simplify (+ 0 0) into 0 33.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 33.799 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.800 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.800 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.800 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.801 * [backup-simplify]: Simplify (- 0) into 0 33.801 * [backup-simplify]: Simplify (+ 0 0) into 0 33.801 * [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 33.802 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.803 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.803 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.803 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.804 * [backup-simplify]: Simplify (+ 0 0) into 0 33.804 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.805 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.805 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.805 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.806 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.806 * [backup-simplify]: Simplify (- 0) into 0 33.806 * [backup-simplify]: Simplify (+ 0 0) into 0 33.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.807 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.808 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.808 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.809 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.809 * [backup-simplify]: Simplify (- 0) into 0 33.809 * [backup-simplify]: Simplify (+ 0 0) into 0 33.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 33.810 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.811 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.811 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.812 * [backup-simplify]: Simplify (+ 0 0) into 0 33.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 33.813 * [backup-simplify]: Simplify (+ 0 0) into 0 33.813 * [backup-simplify]: Simplify (- 0) into 0 33.813 * [backup-simplify]: Simplify (+ 0 0) into 0 33.817 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 33.819 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 33.819 * [backup-simplify]: Simplify (+ 0) into 0 33.820 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.820 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.820 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.821 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.821 * [backup-simplify]: Simplify (- 0) into 0 33.821 * [backup-simplify]: Simplify (+ 0 0) into 0 33.821 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 33.822 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 33.822 * [backup-simplify]: Simplify (+ 0) into 0 33.822 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.822 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.823 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.823 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.823 * [backup-simplify]: Simplify (+ 0 0) into 0 33.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 3))) into 0 33.824 * [backup-simplify]: Simplify (+ 0) into 0 33.824 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.824 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.825 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.825 * [backup-simplify]: Simplify (- 0) into 0 33.826 * [backup-simplify]: Simplify (+ 0 0) into 0 33.826 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 33.826 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 33.826 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) into 0 33.827 * [backup-simplify]: Simplify (+ 0) into 0 33.827 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.827 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.828 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.828 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.828 * [backup-simplify]: Simplify (+ 0 0) into 0 33.829 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1)))))) into 0 33.829 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 33.829 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 33.830 * [backup-simplify]: Simplify (+ 0) into 0 33.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.830 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.831 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.831 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.831 * [backup-simplify]: Simplify (- 0) into 0 33.831 * [backup-simplify]: Simplify (+ 0 0) into 0 33.832 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 33.832 * [backup-simplify]: Simplify (+ 0) into 0 33.832 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.832 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.833 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.833 * [backup-simplify]: Simplify (- 0) into 0 33.834 * [backup-simplify]: Simplify (+ 0 0) into 0 33.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 33.834 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 33.834 * [backup-simplify]: Simplify (+ 0) into 0 33.835 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.835 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.835 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.836 * [backup-simplify]: Simplify (+ 0 0) into 0 33.836 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 33.836 * [backup-simplify]: Simplify (+ 0) into 0 33.837 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.837 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.837 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.838 * [backup-simplify]: Simplify (+ 0 0) into 0 33.838 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 33.838 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 33.838 * [backup-simplify]: Simplify (+ 0 0) into 0 33.839 * [backup-simplify]: Simplify (+ 0) into 0 33.839 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.840 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.840 * [backup-simplify]: Simplify (+ 0 0) into 0 33.840 * [backup-simplify]: Simplify (+ 0) into 0 33.841 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.841 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.841 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.842 * [backup-simplify]: Simplify (- 0) into 0 33.842 * [backup-simplify]: Simplify (+ 0 0) into 0 33.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 33.843 * [backup-simplify]: Simplify (+ 0) into 0 33.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.843 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.844 * [backup-simplify]: Simplify (+ 0 0) into 0 33.844 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 33.845 * [backup-simplify]: Simplify (+ 0) into 0 33.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.845 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.845 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.846 * [backup-simplify]: Simplify (- 0) into 0 33.846 * [backup-simplify]: Simplify (+ 0 0) into 0 33.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 33.847 * [backup-simplify]: Simplify (+ 0) into 0 33.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.847 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.848 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.848 * [backup-simplify]: Simplify (- 0) into 0 33.849 * [backup-simplify]: Simplify (+ 0 0) into 0 33.849 * [backup-simplify]: Simplify (+ 0) into 0 33.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 33.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 33.850 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 33.850 * [backup-simplify]: Simplify (+ 0 0) into 0 33.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 33.851 * [backup-simplify]: Simplify (+ 0) into 0 33.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.851 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.852 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.852 * [backup-simplify]: Simplify (- 0) into 0 33.852 * [backup-simplify]: Simplify (+ 0 0) into 0 33.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 33.853 * [backup-simplify]: Simplify (+ 0) into 0 33.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 33.853 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 33.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 33.854 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 33.854 * [backup-simplify]: Simplify (+ 0 0) into 0 33.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 33.855 * [backup-simplify]: Simplify (+ 0 0) into 0 33.855 * [backup-simplify]: Simplify (- 0) into 0 33.855 * [backup-simplify]: Simplify (+ 0 0) into 0 33.857 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 33.858 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 33.862 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 33.862 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.863 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.864 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.865 * [backup-simplify]: Simplify (- 0) into 0 33.865 * [backup-simplify]: Simplify (+ 0 0) into 0 33.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 33.867 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.867 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.868 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.868 * [backup-simplify]: Simplify (+ 0 0) into 0 33.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 3)))) into 0 33.869 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.870 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.871 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.871 * [backup-simplify]: Simplify (- 0) into 0 33.871 * [backup-simplify]: Simplify (+ 0 0) into 0 33.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.872 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 33.873 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3))))) into 0 33.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.874 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.875 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.875 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.875 * [backup-simplify]: Simplify (+ 0 0) into 0 33.876 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (sin (/ -0.5 phi1))))))) into 0 33.877 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 33.878 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 33.879 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.880 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.880 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.881 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.881 * [backup-simplify]: Simplify (- 0) into 0 33.881 * [backup-simplify]: Simplify (+ 0 0) into 0 33.882 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.882 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.883 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.883 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.883 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.884 * [backup-simplify]: Simplify (- 0) into 0 33.884 * [backup-simplify]: Simplify (+ 0 0) into 0 33.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 33.891 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 33.891 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.892 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.892 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.893 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.893 * [backup-simplify]: Simplify (+ 0 0) into 0 33.894 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.894 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.895 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.896 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.897 * [backup-simplify]: Simplify (+ 0 0) into 0 33.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 33.899 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 33.899 * [backup-simplify]: Simplify (+ 0 0) into 0 33.901 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.902 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.905 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.906 * [backup-simplify]: Simplify (+ 0 0) into 0 33.907 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.909 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.910 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.911 * [backup-simplify]: Simplify (- 0) into 0 33.911 * [backup-simplify]: Simplify (+ 0 0) into 0 33.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 33.913 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.914 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.916 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.917 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.917 * [backup-simplify]: Simplify (+ 0 0) into 0 33.918 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 33.919 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.919 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.920 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.920 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.921 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.921 * [backup-simplify]: Simplify (- 0) into 0 33.922 * [backup-simplify]: Simplify (+ 0 0) into 0 33.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 33.924 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.924 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.925 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.926 * [backup-simplify]: Simplify (- 0) into 0 33.927 * [backup-simplify]: Simplify (+ 0 0) into 0 33.928 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 33.929 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 33.930 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.931 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 33.931 * [backup-simplify]: Simplify (+ 0 0) into 0 33.932 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 33.933 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.934 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.934 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.935 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.935 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.936 * [backup-simplify]: Simplify (- 0) into 0 33.936 * [backup-simplify]: Simplify (+ 0 0) into 0 33.937 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 33.938 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 33.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 33.939 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 33.940 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 33.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 33.941 * [backup-simplify]: Simplify (+ 0 0) into 0 33.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 33.942 * [backup-simplify]: Simplify (+ 0 0) into 0 33.943 * [backup-simplify]: Simplify (- 0) into 0 33.943 * [backup-simplify]: Simplify (+ 0 0) into 0 33.946 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 33.949 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 33.958 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 33.964 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 33.969 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 33.974 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 33.981 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 33.986 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))) 33.993 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) 33.999 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) 34.006 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) 34.012 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) 34.019 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) 34.026 * [backup-simplify]: Simplify (+ 0 (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) 34.039 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))))) 34.053 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R))))))))))) 34.075 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))))) 34.085 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R))))))))))) 34.093 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))) 34.102 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R))))))))))) 34.116 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))))) 34.136 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))))) into (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))))) 34.167 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))))))) 34.200 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) 34.225 * [backup-simplify]: Simplify (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))))))) 34.257 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R))))))))))))) 34.285 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))))))) 34.304 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) 34.333 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))))))) 34.353 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))))))) into (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) 34.354 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.355 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.356 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.357 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.357 * [backup-simplify]: Simplify (- 0) into 0 34.358 * [backup-simplify]: Simplify (+ 0 0) into 0 34.359 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.360 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.361 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.361 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.362 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.363 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.363 * [backup-simplify]: Simplify (- 0) into 0 34.363 * [backup-simplify]: Simplify (+ 0 0) into 0 34.364 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 34.365 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 34.366 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.367 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.367 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.368 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.369 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.369 * [backup-simplify]: Simplify (+ 0 0) into 0 34.370 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 34.371 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.372 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.372 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.373 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.374 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.374 * [backup-simplify]: Simplify (+ 0 0) into 0 34.375 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 34.376 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 34.376 * [backup-simplify]: Simplify (+ 0 0) into 0 34.377 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.378 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.378 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.379 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.381 * [backup-simplify]: Simplify (- 0) into 0 34.381 * [backup-simplify]: Simplify (+ 0 0) into 0 34.382 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.383 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.384 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.385 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.385 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.386 * [backup-simplify]: Simplify (+ 0 0) into 0 34.386 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.387 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.388 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.388 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.389 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.390 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.390 * [backup-simplify]: Simplify (+ 0 0) into 0 34.391 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 34.392 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.393 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.393 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.394 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.395 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.395 * [backup-simplify]: Simplify (- 0) into 0 34.396 * [backup-simplify]: Simplify (+ 0 0) into 0 34.397 * [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 34.398 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.399 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.399 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.400 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.400 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.401 * [backup-simplify]: Simplify (+ 0 0) into 0 34.401 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.403 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.403 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.404 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.404 * [backup-simplify]: Simplify (- 0) into 0 34.405 * [backup-simplify]: Simplify (+ 0 0) into 0 34.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 34.406 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.407 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.408 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.409 * [backup-simplify]: Simplify (- 0) into 0 34.409 * [backup-simplify]: Simplify (+ 0 0) into 0 34.410 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 34.411 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.412 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.412 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.414 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.414 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.415 * [backup-simplify]: Simplify (+ 0 0) into 0 34.415 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 34.415 * [backup-simplify]: Simplify (+ 0 0) into 0 34.416 * [backup-simplify]: Simplify (- 0) into 0 34.416 * [backup-simplify]: Simplify (+ 0 0) into 0 34.419 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 34.422 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 34.429 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 34.432 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 34.432 * [backup-simplify]: Simplify (+ 0) into 0 34.433 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.433 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.434 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.434 * [backup-simplify]: Simplify (+ 0 0) into 0 34.434 * [backup-simplify]: Simplify (+ 0) into 0 34.435 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.435 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.435 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.436 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.436 * [backup-simplify]: Simplify (- 0) into 0 34.436 * [backup-simplify]: Simplify (+ 0 0) into 0 34.436 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 34.437 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 34.437 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 4))) into 0 34.437 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 5) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 34.437 * [backup-simplify]: Simplify (+ 0) into 0 34.438 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.438 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.438 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.439 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.439 * [backup-simplify]: Simplify (- 0) into 0 34.439 * [backup-simplify]: Simplify (+ 0 0) into 0 34.439 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 34.440 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 34.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 4))) into 0 34.440 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 5) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) into 0 34.440 * [backup-simplify]: Simplify (+ 0) into 0 34.441 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.441 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.442 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.442 * [backup-simplify]: Simplify (+ 0 0) into 0 34.442 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (pow (cos (/ -0.5 phi1)) 5))))) into 0 34.443 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 34.443 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 34.443 * [backup-simplify]: Simplify (+ 0) into 0 34.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.444 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.445 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.446 * [backup-simplify]: Simplify (- 0) into 0 34.446 * [backup-simplify]: Simplify (+ 0 0) into 0 34.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 34.447 * [backup-simplify]: Simplify (+ 0) into 0 34.447 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.448 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.455 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.456 * [backup-simplify]: Simplify (- 0) into 0 34.457 * [backup-simplify]: Simplify (+ 0 0) into 0 34.457 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 34.457 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 34.458 * [backup-simplify]: Simplify (+ 0) into 0 34.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.459 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.459 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.460 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.460 * [backup-simplify]: Simplify (+ 0 0) into 0 34.460 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 34.461 * [backup-simplify]: Simplify (+ 0) into 0 34.461 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.461 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.462 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.462 * [backup-simplify]: Simplify (+ 0 0) into 0 34.462 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 34.462 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 34.463 * [backup-simplify]: Simplify (+ 0 0) into 0 34.463 * [backup-simplify]: Simplify (+ 0) into 0 34.463 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.463 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.464 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.464 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.465 * [backup-simplify]: Simplify (+ 0 0) into 0 34.465 * [backup-simplify]: Simplify (+ 0) into 0 34.465 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.465 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.466 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.466 * [backup-simplify]: Simplify (- 0) into 0 34.467 * [backup-simplify]: Simplify (+ 0 0) into 0 34.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 34.467 * [backup-simplify]: Simplify (+ 0) into 0 34.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.467 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.468 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.469 * [backup-simplify]: Simplify (+ 0 0) into 0 34.469 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 34.469 * [backup-simplify]: Simplify (+ 0) into 0 34.469 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.470 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.470 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.470 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.471 * [backup-simplify]: Simplify (- 0) into 0 34.471 * [backup-simplify]: Simplify (+ 0 0) into 0 34.471 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 34.471 * [backup-simplify]: Simplify (+ 0) into 0 34.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.472 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.472 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.473 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.473 * [backup-simplify]: Simplify (- 0) into 0 34.473 * [backup-simplify]: Simplify (+ 0 0) into 0 34.473 * [backup-simplify]: Simplify (+ 0) into 0 34.474 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.474 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.474 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.475 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.475 * [backup-simplify]: Simplify (+ 0 0) into 0 34.475 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 34.475 * [backup-simplify]: Simplify (+ 0) into 0 34.476 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.476 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.476 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.476 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.477 * [backup-simplify]: Simplify (- 0) into 0 34.477 * [backup-simplify]: Simplify (+ 0 0) into 0 34.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 34.477 * [backup-simplify]: Simplify (+ 0) into 0 34.478 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.478 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.478 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.479 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.479 * [backup-simplify]: Simplify (+ 0 0) into 0 34.479 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 34.479 * [backup-simplify]: Simplify (+ 0 0) into 0 34.480 * [backup-simplify]: Simplify (- 0) into 0 34.480 * [backup-simplify]: Simplify (+ 0 0) into 0 34.481 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 34.482 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 34.486 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 34.487 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.487 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.487 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.488 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.488 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.489 * [backup-simplify]: Simplify (+ 0 0) into 0 34.490 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.491 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.492 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.492 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.493 * [backup-simplify]: Simplify (- 0) into 0 34.493 * [backup-simplify]: Simplify (+ 0 0) into 0 34.493 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.494 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 34.495 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 4)))) into 0 34.496 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 34.497 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.498 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.499 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.500 * [backup-simplify]: Simplify (- 0) into 0 34.500 * [backup-simplify]: Simplify (+ 0 0) into 0 34.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 34.501 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 34.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 4)))) into 0 34.503 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2)))))) into 0 34.504 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.505 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.506 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.507 * [backup-simplify]: Simplify (+ 0 0) into 0 34.508 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 5) (pow (cos (/ -0.5 phi1)) 5)))))) into 0 34.509 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 34.509 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 34.510 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.511 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.512 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.513 * [backup-simplify]: Simplify (- 0) into 0 34.514 * [backup-simplify]: Simplify (+ 0 0) into 0 34.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.515 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.516 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.516 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.517 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.517 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.518 * [backup-simplify]: Simplify (- 0) into 0 34.519 * [backup-simplify]: Simplify (+ 0 0) into 0 34.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 34.520 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 34.521 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.522 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.523 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.524 * [backup-simplify]: Simplify (+ 0 0) into 0 34.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 34.525 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.526 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.527 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.528 * [backup-simplify]: Simplify (+ 0 0) into 0 34.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 34.529 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 34.530 * [backup-simplify]: Simplify (+ 0 0) into 0 34.531 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.532 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.533 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.533 * [backup-simplify]: Simplify (+ 0 0) into 0 34.534 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.535 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.535 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.536 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.536 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.537 * [backup-simplify]: Simplify (- 0) into 0 34.537 * [backup-simplify]: Simplify (+ 0 0) into 0 34.538 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 34.539 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.539 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.540 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.541 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.541 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.542 * [backup-simplify]: Simplify (+ 0 0) into 0 34.542 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 34.543 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.544 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.544 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.545 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.546 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.546 * [backup-simplify]: Simplify (- 0) into 0 34.546 * [backup-simplify]: Simplify (+ 0 0) into 0 34.547 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 34.548 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.549 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.549 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.550 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.550 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.551 * [backup-simplify]: Simplify (- 0) into 0 34.551 * [backup-simplify]: Simplify (+ 0 0) into 0 34.552 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.553 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.553 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.554 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.555 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.555 * [backup-simplify]: Simplify (+ 0 0) into 0 34.556 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.557 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.558 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.558 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.559 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.559 * [backup-simplify]: Simplify (- 0) into 0 34.560 * [backup-simplify]: Simplify (+ 0 0) into 0 34.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 34.562 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.563 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.564 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.564 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.564 * [backup-simplify]: Simplify (+ 0 0) into 0 34.565 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 34.565 * [backup-simplify]: Simplify (+ 0 0) into 0 34.565 * [backup-simplify]: Simplify (- 0) into 0 34.566 * [backup-simplify]: Simplify (+ 0 0) into 0 34.567 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 34.569 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 34.574 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 34.579 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 34.583 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 34.587 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 34.601 * [backup-simplify]: Simplify (+ (* 5/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 34.603 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.605 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.605 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.606 * [backup-simplify]: Simplify (- 0) into 0 34.606 * [backup-simplify]: Simplify (+ 0 0) into 0 34.607 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.608 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.608 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.608 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.609 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.610 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.610 * [backup-simplify]: Simplify (- 0) into 0 34.611 * [backup-simplify]: Simplify (+ 0 0) into 0 34.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 34.612 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 34.613 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.614 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.614 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.615 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.616 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.616 * [backup-simplify]: Simplify (+ 0 0) into 0 34.616 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 34.617 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.617 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.617 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.618 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.618 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.619 * [backup-simplify]: Simplify (+ 0 0) into 0 34.619 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 34.619 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 34.620 * [backup-simplify]: Simplify (+ 0 0) into 0 34.620 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.621 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.621 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.622 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.622 * [backup-simplify]: Simplify (- 0) into 0 34.622 * [backup-simplify]: Simplify (+ 0 0) into 0 34.623 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.623 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.624 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.624 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.624 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.625 * [backup-simplify]: Simplify (+ 0 0) into 0 34.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.626 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.626 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.626 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.627 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.627 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.627 * [backup-simplify]: Simplify (+ 0 0) into 0 34.628 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 34.628 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.629 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.630 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.630 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.630 * [backup-simplify]: Simplify (- 0) into 0 34.631 * [backup-simplify]: Simplify (+ 0 0) into 0 34.631 * [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 34.632 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.632 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.632 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.633 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.633 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.633 * [backup-simplify]: Simplify (+ 0 0) into 0 34.634 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.635 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.635 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.635 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.636 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.636 * [backup-simplify]: Simplify (- 0) into 0 34.636 * [backup-simplify]: Simplify (+ 0 0) into 0 34.637 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 34.637 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.638 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.638 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.638 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.639 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.639 * [backup-simplify]: Simplify (- 0) into 0 34.639 * [backup-simplify]: Simplify (+ 0 0) into 0 34.640 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 34.640 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.641 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.641 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.641 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.642 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.642 * [backup-simplify]: Simplify (+ 0 0) into 0 34.643 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 34.643 * [backup-simplify]: Simplify (+ 0 0) into 0 34.643 * [backup-simplify]: Simplify (- 0) into 0 34.643 * [backup-simplify]: Simplify (+ 0 0) into 0 34.646 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 34.649 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 34.662 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 34.667 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 34.668 * [backup-simplify]: Simplify (+ 0) into 0 34.669 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.669 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.670 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.670 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.671 * [backup-simplify]: Simplify (+ 0 0) into 0 34.671 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 34.671 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 34.672 * [backup-simplify]: Simplify (+ 0) into 0 34.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.672 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.673 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.673 * [backup-simplify]: Simplify (- 0) into 0 34.674 * [backup-simplify]: Simplify (+ 0 0) into 0 34.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 34.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 34.674 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (pow (sin (/ -0.5 phi2)) 3))) into 0 34.674 * [backup-simplify]: Simplify (+ 0) into 0 34.675 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.675 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.675 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.676 * [backup-simplify]: Simplify (- 0) into 0 34.676 * [backup-simplify]: Simplify (+ 0 0) into 0 34.676 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 34.676 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 34.677 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) into 0 34.677 * [backup-simplify]: Simplify (+ 0) into 0 34.677 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.678 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.678 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.679 * [backup-simplify]: Simplify (+ 0 0) into 0 34.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 34.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 34.680 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3))))) into 0 34.681 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 34.682 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 34.682 * [backup-simplify]: Simplify (+ 0) into 0 34.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.682 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.683 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.683 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.684 * [backup-simplify]: Simplify (- 0) into 0 34.684 * [backup-simplify]: Simplify (+ 0 0) into 0 34.684 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 34.684 * [backup-simplify]: Simplify (+ 0) into 0 34.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.685 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.686 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.686 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.686 * [backup-simplify]: Simplify (- 0) into 0 34.686 * [backup-simplify]: Simplify (+ 0 0) into 0 34.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 34.687 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 34.687 * [backup-simplify]: Simplify (+ 0) into 0 34.688 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.688 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.689 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.689 * [backup-simplify]: Simplify (+ 0 0) into 0 34.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 34.689 * [backup-simplify]: Simplify (+ 0) into 0 34.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.690 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.691 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.691 * [backup-simplify]: Simplify (+ 0 0) into 0 34.691 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 34.691 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 34.691 * [backup-simplify]: Simplify (+ 0 0) into 0 34.692 * [backup-simplify]: Simplify (+ 0) into 0 34.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.692 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.693 * [backup-simplify]: Simplify (+ 0 0) into 0 34.694 * [backup-simplify]: Simplify (+ 0) into 0 34.694 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.694 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.694 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.695 * [backup-simplify]: Simplify (- 0) into 0 34.695 * [backup-simplify]: Simplify (+ 0 0) into 0 34.695 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 34.696 * [backup-simplify]: Simplify (+ 0) into 0 34.696 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.696 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.697 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.697 * [backup-simplify]: Simplify (+ 0 0) into 0 34.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 34.698 * [backup-simplify]: Simplify (+ 0) into 0 34.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.698 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.699 * [backup-simplify]: Simplify (- 0) into 0 34.699 * [backup-simplify]: Simplify (+ 0 0) into 0 34.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 34.700 * [backup-simplify]: Simplify (+ 0) into 0 34.700 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.700 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.701 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.702 * [backup-simplify]: Simplify (- 0) into 0 34.703 * [backup-simplify]: Simplify (+ 0 0) into 0 34.703 * [backup-simplify]: Simplify (+ 0) into 0 34.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.704 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.705 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.705 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.705 * [backup-simplify]: Simplify (+ 0 0) into 0 34.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 34.706 * [backup-simplify]: Simplify (+ 0) into 0 34.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.707 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.708 * [backup-simplify]: Simplify (- 0) into 0 34.709 * [backup-simplify]: Simplify (+ 0 0) into 0 34.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 34.709 * [backup-simplify]: Simplify (+ 0) into 0 34.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.710 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.712 * [backup-simplify]: Simplify (+ 0 0) into 0 34.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 34.712 * [backup-simplify]: Simplify (+ 0 0) into 0 34.713 * [backup-simplify]: Simplify (- 0) into 0 34.713 * [backup-simplify]: Simplify (+ 0 0) into 0 34.714 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 34.715 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 34.719 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 34.725 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.726 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.727 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.727 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.727 * [backup-simplify]: Simplify (+ 0 0) into 0 34.728 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 34.728 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 34.729 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.729 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.730 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.730 * [backup-simplify]: Simplify (- 0) into 0 34.731 * [backup-simplify]: Simplify (+ 0 0) into 0 34.731 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 34.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 34.732 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 3)))) into 0 34.733 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.733 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.735 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.736 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.736 * [backup-simplify]: Simplify (- 0) into 0 34.736 * [backup-simplify]: Simplify (+ 0 0) into 0 34.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 34.738 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3))))) into 0 34.739 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.739 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.739 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.740 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.741 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.741 * [backup-simplify]: Simplify (+ 0 0) into 0 34.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 34.742 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 34.742 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))))) into 0 34.743 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 34.743 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 34.744 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.744 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.745 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.745 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.745 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.746 * [backup-simplify]: Simplify (- 0) into 0 34.746 * [backup-simplify]: Simplify (+ 0 0) into 0 34.746 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.747 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.747 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.748 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.748 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.749 * [backup-simplify]: Simplify (- 0) into 0 34.749 * [backup-simplify]: Simplify (+ 0 0) into 0 34.749 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 34.750 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 34.750 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.751 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.751 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.752 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.752 * [backup-simplify]: Simplify (+ 0 0) into 0 34.752 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 34.753 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.753 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.754 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.754 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.754 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.755 * [backup-simplify]: Simplify (+ 0 0) into 0 34.755 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 34.755 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 34.756 * [backup-simplify]: Simplify (+ 0 0) into 0 34.757 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.757 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.758 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.758 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.759 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.759 * [backup-simplify]: Simplify (+ 0 0) into 0 34.760 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.761 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.761 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.762 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.763 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.763 * [backup-simplify]: Simplify (- 0) into 0 34.763 * [backup-simplify]: Simplify (+ 0 0) into 0 34.764 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 34.765 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.766 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.767 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.768 * [backup-simplify]: Simplify (+ 0 0) into 0 34.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 34.769 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.770 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.771 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.772 * [backup-simplify]: Simplify (- 0) into 0 34.772 * [backup-simplify]: Simplify (+ 0 0) into 0 34.773 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 34.774 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.775 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.775 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.776 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.777 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.777 * [backup-simplify]: Simplify (- 0) into 0 34.777 * [backup-simplify]: Simplify (+ 0 0) into 0 34.778 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.780 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.781 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.781 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.781 * [backup-simplify]: Simplify (+ 0 0) into 0 34.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.783 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.784 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.785 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.786 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.786 * [backup-simplify]: Simplify (- 0) into 0 34.786 * [backup-simplify]: Simplify (+ 0 0) into 0 34.787 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 34.788 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.789 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.789 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.790 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.791 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.791 * [backup-simplify]: Simplify (+ 0 0) into 0 34.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 34.792 * [backup-simplify]: Simplify (+ 0 0) into 0 34.793 * [backup-simplify]: Simplify (- 0) into 0 34.793 * [backup-simplify]: Simplify (+ 0 0) into 0 34.796 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 34.798 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 34.808 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 34.816 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 34.823 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 34.830 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 34.839 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 34.845 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) 34.846 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.847 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.849 * [backup-simplify]: Simplify (- 0) into 0 34.850 * [backup-simplify]: Simplify (+ 0 0) into 0 34.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.852 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.852 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.853 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.853 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.854 * [backup-simplify]: Simplify (- 0) into 0 34.855 * [backup-simplify]: Simplify (+ 0 0) into 0 34.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 34.856 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 34.857 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.858 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.858 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.859 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.859 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.860 * [backup-simplify]: Simplify (+ 0 0) into 0 34.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 34.861 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.863 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.864 * [backup-simplify]: Simplify (+ 0 0) into 0 34.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 34.866 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 34.866 * [backup-simplify]: Simplify (+ 0 0) into 0 34.867 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.868 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.869 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.870 * [backup-simplify]: Simplify (- 0) into 0 34.879 * [backup-simplify]: Simplify (+ 0 0) into 0 34.881 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.882 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.882 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.883 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.883 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.884 * [backup-simplify]: Simplify (+ 0 0) into 0 34.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 34.885 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.886 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.886 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.887 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.888 * [backup-simplify]: Simplify (+ 0 0) into 0 34.889 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 34.890 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.891 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.891 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.892 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.892 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.893 * [backup-simplify]: Simplify (- 0) into 0 34.893 * [backup-simplify]: Simplify (+ 0 0) into 0 34.894 * [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 34.895 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.896 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.897 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.898 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.898 * [backup-simplify]: Simplify (+ 0 0) into 0 34.899 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 34.900 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 34.901 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.901 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 34.902 * [backup-simplify]: Simplify (- 0) into 0 34.902 * [backup-simplify]: Simplify (+ 0 0) into 0 34.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 34.904 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.904 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.905 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.906 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.907 * [backup-simplify]: Simplify (- 0) into 0 34.907 * [backup-simplify]: Simplify (+ 0 0) into 0 34.908 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 34.909 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 34.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 34.910 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 34.911 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 34.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 34.912 * [backup-simplify]: Simplify (+ 0 0) into 0 34.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 34.913 * [backup-simplify]: Simplify (+ 0 0) into 0 34.914 * [backup-simplify]: Simplify (- 0) into 0 34.914 * [backup-simplify]: Simplify (+ 0 0) into 0 34.919 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 34.923 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 34.937 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 34.943 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 34.944 * [backup-simplify]: Simplify (+ 0) into 0 34.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.945 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.947 * [backup-simplify]: Simplify (+ 0 0) into 0 34.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 34.947 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 34.948 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 4))) into 0 34.948 * [backup-simplify]: Simplify (+ 0) into 0 34.949 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.949 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.950 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.951 * [backup-simplify]: Simplify (+ 0 0) into 0 34.951 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 34.951 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 34.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0 34.952 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 5) 0) (* 0 (pow (sin (/ -0.5 phi2)) 5))) into 0 34.953 * [backup-simplify]: Simplify (+ 0) into 0 34.953 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.953 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.955 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.955 * [backup-simplify]: Simplify (- 0) into 0 34.956 * [backup-simplify]: Simplify (+ 0 0) into 0 34.956 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) into 0 34.957 * [backup-simplify]: Simplify (+ 0) into 0 34.957 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.957 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.959 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.959 * [backup-simplify]: Simplify (- 0) into 0 34.959 * [backup-simplify]: Simplify (+ 0 0) into 0 34.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi1)) 5))))) into 0 34.961 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 34.962 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 34.962 * [backup-simplify]: Simplify (+ 0) into 0 34.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.963 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.964 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.965 * [backup-simplify]: Simplify (- 0) into 0 34.965 * [backup-simplify]: Simplify (+ 0 0) into 0 34.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 34.966 * [backup-simplify]: Simplify (+ 0) into 0 34.966 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.966 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.967 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.968 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.968 * [backup-simplify]: Simplify (- 0) into 0 34.968 * [backup-simplify]: Simplify (+ 0 0) into 0 34.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 34.969 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 34.969 * [backup-simplify]: Simplify (+ 0) into 0 34.969 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.970 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.970 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.971 * [backup-simplify]: Simplify (+ 0 0) into 0 34.971 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 34.971 * [backup-simplify]: Simplify (+ 0) into 0 34.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.972 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.972 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.973 * [backup-simplify]: Simplify (+ 0 0) into 0 34.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 34.973 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 34.973 * [backup-simplify]: Simplify (+ 0 0) into 0 34.974 * [backup-simplify]: Simplify (+ 0) into 0 34.974 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.974 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.975 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.975 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.975 * [backup-simplify]: Simplify (+ 0 0) into 0 34.976 * [backup-simplify]: Simplify (+ 0) into 0 34.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.976 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.976 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.977 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.977 * [backup-simplify]: Simplify (- 0) into 0 34.977 * [backup-simplify]: Simplify (+ 0 0) into 0 34.977 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 34.978 * [backup-simplify]: Simplify (+ 0) into 0 34.978 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.978 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.979 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.979 * [backup-simplify]: Simplify (+ 0 0) into 0 34.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 34.980 * [backup-simplify]: Simplify (+ 0) into 0 34.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.980 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.981 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.981 * [backup-simplify]: Simplify (- 0) into 0 34.981 * [backup-simplify]: Simplify (+ 0 0) into 0 34.982 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 34.982 * [backup-simplify]: Simplify (+ 0) into 0 34.982 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.982 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.983 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.983 * [backup-simplify]: Simplify (- 0) into 0 34.984 * [backup-simplify]: Simplify (+ 0 0) into 0 34.984 * [backup-simplify]: Simplify (+ 0) into 0 34.984 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 34.984 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 34.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 34.985 * [backup-simplify]: Simplify (+ 0 0) into 0 34.986 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 34.986 * [backup-simplify]: Simplify (+ 0) into 0 34.986 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.986 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.987 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.987 * [backup-simplify]: Simplify (- 0) into 0 34.988 * [backup-simplify]: Simplify (+ 0 0) into 0 34.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 34.988 * [backup-simplify]: Simplify (+ 0) into 0 34.989 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 34.989 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 34.990 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 34.990 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 34.991 * [backup-simplify]: Simplify (+ 0 0) into 0 34.991 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 34.991 * [backup-simplify]: Simplify (+ 0 0) into 0 34.991 * [backup-simplify]: Simplify (- 0) into 0 34.992 * [backup-simplify]: Simplify (+ 0 0) into 0 34.993 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 34.994 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 34.998 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 34.999 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.000 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.000 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.000 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.001 * [backup-simplify]: Simplify (+ 0 0) into 0 35.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.002 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 35.002 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 4)))) into 0 35.003 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.004 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.004 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.004 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.005 * [backup-simplify]: Simplify (+ 0 0) into 0 35.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.006 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.006 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0 35.007 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 5)))) into 0 35.007 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.008 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.008 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.009 * [backup-simplify]: Simplify (- 0) into 0 35.009 * [backup-simplify]: Simplify (+ 0 0) into 0 35.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5))))) into 0 35.010 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.011 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.012 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.012 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.012 * [backup-simplify]: Simplify (- 0) into 0 35.012 * [backup-simplify]: Simplify (+ 0 0) into 0 35.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi1)) 5)))))) into 0 35.014 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 35.014 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 35.015 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.015 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.015 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.016 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.016 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.016 * [backup-simplify]: Simplify (- 0) into 0 35.017 * [backup-simplify]: Simplify (+ 0 0) into 0 35.017 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.023 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.024 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.024 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.025 * [backup-simplify]: Simplify (- 0) into 0 35.026 * [backup-simplify]: Simplify (+ 0 0) into 0 35.026 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.027 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 35.028 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.029 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.029 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.030 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.031 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.031 * [backup-simplify]: Simplify (+ 0 0) into 0 35.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.033 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.034 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.034 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.035 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.035 * [backup-simplify]: Simplify (+ 0 0) into 0 35.036 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.037 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.037 * [backup-simplify]: Simplify (+ 0 0) into 0 35.038 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.039 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.039 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.040 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.041 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.041 * [backup-simplify]: Simplify (+ 0 0) into 0 35.042 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.043 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.043 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.044 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.045 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.045 * [backup-simplify]: Simplify (- 0) into 0 35.045 * [backup-simplify]: Simplify (+ 0 0) into 0 35.046 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.047 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.048 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.048 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.049 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.049 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.050 * [backup-simplify]: Simplify (+ 0 0) into 0 35.050 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 35.051 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.052 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.053 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.053 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.054 * [backup-simplify]: Simplify (- 0) into 0 35.054 * [backup-simplify]: Simplify (+ 0 0) into 0 35.055 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 35.056 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.057 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.058 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.059 * [backup-simplify]: Simplify (- 0) into 0 35.059 * [backup-simplify]: Simplify (+ 0 0) into 0 35.060 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.061 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.061 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.062 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.062 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.063 * [backup-simplify]: Simplify (+ 0 0) into 0 35.063 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.064 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.065 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.065 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.066 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.067 * [backup-simplify]: Simplify (- 0) into 0 35.067 * [backup-simplify]: Simplify (+ 0 0) into 0 35.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 35.069 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.069 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.070 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.070 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.071 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.071 * [backup-simplify]: Simplify (+ 0 0) into 0 35.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 35.072 * [backup-simplify]: Simplify (+ 0 0) into 0 35.073 * [backup-simplify]: Simplify (- 0) into 0 35.073 * [backup-simplify]: Simplify (+ 0 0) into 0 35.076 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 35.078 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 35.087 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 35.094 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 35.097 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 35.101 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi1)) 5) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 35.106 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi1)) 5) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 35.109 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))) 35.112 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) into (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 35.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.114 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.115 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.115 * [backup-simplify]: Simplify (- 0) into 0 35.116 * [backup-simplify]: Simplify (+ 0 0) into 0 35.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.117 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.118 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.119 * [backup-simplify]: Simplify (- 0) into 0 35.119 * [backup-simplify]: Simplify (+ 0 0) into 0 35.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.120 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 35.120 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.121 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.121 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.121 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.122 * [backup-simplify]: Simplify (+ 0 0) into 0 35.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.123 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.124 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.124 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.125 * [backup-simplify]: Simplify (+ 0 0) into 0 35.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.126 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.126 * [backup-simplify]: Simplify (+ 0 0) into 0 35.126 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.127 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.128 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.128 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.128 * [backup-simplify]: Simplify (- 0) into 0 35.128 * [backup-simplify]: Simplify (+ 0 0) into 0 35.129 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.130 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.130 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.130 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.131 * [backup-simplify]: Simplify (+ 0 0) into 0 35.131 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.132 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.133 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.134 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.134 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.135 * [backup-simplify]: Simplify (+ 0 0) into 0 35.135 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 35.136 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.137 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.138 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.139 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.139 * [backup-simplify]: Simplify (- 0) into 0 35.140 * [backup-simplify]: Simplify (+ 0 0) into 0 35.140 * [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 35.141 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.142 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.142 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.143 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.144 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.144 * [backup-simplify]: Simplify (+ 0 0) into 0 35.145 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.146 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.147 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.148 * [backup-simplify]: Simplify (- 0) into 0 35.148 * [backup-simplify]: Simplify (+ 0 0) into 0 35.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.150 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.151 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.151 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.159 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.160 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.160 * [backup-simplify]: Simplify (- 0) into 0 35.161 * [backup-simplify]: Simplify (+ 0 0) into 0 35.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 35.163 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.163 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.164 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.165 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.166 * [backup-simplify]: Simplify (+ 0 0) into 0 35.167 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 35.167 * [backup-simplify]: Simplify (+ 0 0) into 0 35.167 * [backup-simplify]: Simplify (- 0) into 0 35.168 * [backup-simplify]: Simplify (+ 0 0) into 0 35.174 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 35.178 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 35.179 * [backup-simplify]: Simplify (+ 0) into 0 35.180 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.180 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.181 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.182 * [backup-simplify]: Simplify (+ 0 0) into 0 35.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 35.183 * [backup-simplify]: Simplify (+ 0) into 0 35.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.184 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.184 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.185 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.185 * [backup-simplify]: Simplify (- 0) into 0 35.185 * [backup-simplify]: Simplify (+ 0 0) into 0 35.185 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 35.186 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 35.186 * [backup-simplify]: Simplify (+ 0) into 0 35.187 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.188 * [backup-simplify]: Simplify (+ 0 0) into 0 35.189 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 35.189 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) into 0 35.189 * [backup-simplify]: Simplify (+ 0) into 0 35.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.190 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.191 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.191 * [backup-simplify]: Simplify (- 0) into 0 35.191 * [backup-simplify]: Simplify (+ 0 0) into 0 35.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 35.192 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2))))) into 0 35.193 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 35.193 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 35.193 * [backup-simplify]: Simplify (+ 0) into 0 35.194 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.194 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.195 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.195 * [backup-simplify]: Simplify (- 0) into 0 35.195 * [backup-simplify]: Simplify (+ 0 0) into 0 35.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 35.195 * [backup-simplify]: Simplify (+ 0) into 0 35.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.196 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.196 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.197 * [backup-simplify]: Simplify (- 0) into 0 35.197 * [backup-simplify]: Simplify (+ 0 0) into 0 35.197 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 35.198 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 35.198 * [backup-simplify]: Simplify (+ 0) into 0 35.198 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.198 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.199 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.199 * [backup-simplify]: Simplify (+ 0 0) into 0 35.200 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 35.200 * [backup-simplify]: Simplify (+ 0) into 0 35.200 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.200 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.201 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.201 * [backup-simplify]: Simplify (+ 0 0) into 0 35.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 35.202 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 35.202 * [backup-simplify]: Simplify (+ 0 0) into 0 35.202 * [backup-simplify]: Simplify (+ 0) into 0 35.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.203 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.203 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.204 * [backup-simplify]: Simplify (+ 0 0) into 0 35.204 * [backup-simplify]: Simplify (+ 0) into 0 35.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.205 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.205 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.206 * [backup-simplify]: Simplify (- 0) into 0 35.206 * [backup-simplify]: Simplify (+ 0 0) into 0 35.206 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 35.206 * [backup-simplify]: Simplify (+ 0) into 0 35.207 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.207 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.208 * [backup-simplify]: Simplify (+ 0 0) into 0 35.208 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 35.208 * [backup-simplify]: Simplify (+ 0) into 0 35.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.209 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.209 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.210 * [backup-simplify]: Simplify (- 0) into 0 35.210 * [backup-simplify]: Simplify (+ 0 0) into 0 35.210 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 35.210 * [backup-simplify]: Simplify (+ 0) into 0 35.211 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.211 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.212 * [backup-simplify]: Simplify (- 0) into 0 35.212 * [backup-simplify]: Simplify (+ 0 0) into 0 35.213 * [backup-simplify]: Simplify (+ 0) into 0 35.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.213 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.214 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.214 * [backup-simplify]: Simplify (+ 0 0) into 0 35.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 35.215 * [backup-simplify]: Simplify (+ 0) into 0 35.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.215 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.216 * [backup-simplify]: Simplify (- 0) into 0 35.216 * [backup-simplify]: Simplify (+ 0 0) into 0 35.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 35.217 * [backup-simplify]: Simplify (+ 0) into 0 35.217 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.217 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.218 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.218 * [backup-simplify]: Simplify (+ 0 0) into 0 35.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 35.219 * [backup-simplify]: Simplify (+ 0 0) into 0 35.219 * [backup-simplify]: Simplify (- 0) into 0 35.219 * [backup-simplify]: Simplify (+ 0 0) into 0 35.221 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 35.222 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 35.228 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 35.230 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.231 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.232 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.232 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.233 * [backup-simplify]: Simplify (+ 0 0) into 0 35.233 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.234 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.235 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.235 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.236 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.237 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.237 * [backup-simplify]: Simplify (- 0) into 0 35.237 * [backup-simplify]: Simplify (+ 0 0) into 0 35.238 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.239 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 35.240 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.241 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.241 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.242 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.242 * [backup-simplify]: Simplify (+ 0 0) into 0 35.243 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.244 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))))) into 0 35.245 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.246 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.246 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.247 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.248 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.249 * [backup-simplify]: Simplify (- 0) into 0 35.249 * [backup-simplify]: Simplify (+ 0 0) into 0 35.250 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.251 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi1)) 2)))))) into 0 35.252 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 35.253 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 35.253 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.254 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.254 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.255 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.256 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.256 * [backup-simplify]: Simplify (- 0) into 0 35.257 * [backup-simplify]: Simplify (+ 0 0) into 0 35.257 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.259 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.260 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.261 * [backup-simplify]: Simplify (- 0) into 0 35.261 * [backup-simplify]: Simplify (+ 0 0) into 0 35.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.263 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 35.264 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.264 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.265 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.266 * [backup-simplify]: Simplify (+ 0 0) into 0 35.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.268 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.269 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.269 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.270 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.270 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.271 * [backup-simplify]: Simplify (+ 0 0) into 0 35.271 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.272 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.272 * [backup-simplify]: Simplify (+ 0 0) into 0 35.273 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.274 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.274 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.275 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.276 * [backup-simplify]: Simplify (+ 0 0) into 0 35.277 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.278 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.278 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.279 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.280 * [backup-simplify]: Simplify (- 0) into 0 35.280 * [backup-simplify]: Simplify (+ 0 0) into 0 35.281 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.282 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.283 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.283 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.284 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.285 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.285 * [backup-simplify]: Simplify (+ 0 0) into 0 35.286 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 35.287 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.288 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.288 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.289 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.290 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.290 * [backup-simplify]: Simplify (- 0) into 0 35.291 * [backup-simplify]: Simplify (+ 0 0) into 0 35.291 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 35.292 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.294 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.294 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.295 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.295 * [backup-simplify]: Simplify (- 0) into 0 35.296 * [backup-simplify]: Simplify (+ 0 0) into 0 35.297 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.297 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.298 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.307 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.308 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.309 * [backup-simplify]: Simplify (+ 0 0) into 0 35.309 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.310 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.311 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.312 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.313 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.314 * [backup-simplify]: Simplify (- 0) into 0 35.314 * [backup-simplify]: Simplify (+ 0 0) into 0 35.315 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 35.316 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.316 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.317 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.317 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.318 * [backup-simplify]: Simplify (+ 0 0) into 0 35.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 35.320 * [backup-simplify]: Simplify (+ 0 0) into 0 35.320 * [backup-simplify]: Simplify (- 0) into 0 35.320 * [backup-simplify]: Simplify (+ 0 0) into 0 35.323 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 35.326 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 35.335 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 35.340 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 35.345 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 35.347 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 35.351 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 35.352 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.352 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.352 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.353 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.354 * [backup-simplify]: Simplify (- 0) into 0 35.354 * [backup-simplify]: Simplify (+ 0 0) into 0 35.354 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.355 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.356 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.356 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.357 * [backup-simplify]: Simplify (- 0) into 0 35.357 * [backup-simplify]: Simplify (+ 0 0) into 0 35.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.358 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 35.358 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.359 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.359 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.360 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.360 * [backup-simplify]: Simplify (+ 0 0) into 0 35.361 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.361 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.362 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.362 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.363 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.363 * [backup-simplify]: Simplify (+ 0 0) into 0 35.363 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.364 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.364 * [backup-simplify]: Simplify (+ 0 0) into 0 35.365 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.365 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.365 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.366 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.366 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.367 * [backup-simplify]: Simplify (- 0) into 0 35.367 * [backup-simplify]: Simplify (+ 0 0) into 0 35.367 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.368 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.368 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.368 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.369 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.369 * [backup-simplify]: Simplify (+ 0 0) into 0 35.369 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.370 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.370 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.371 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.371 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.371 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.372 * [backup-simplify]: Simplify (+ 0 0) into 0 35.372 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 35.373 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.373 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.374 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.374 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.374 * [backup-simplify]: Simplify (- 0) into 0 35.375 * [backup-simplify]: Simplify (+ 0 0) into 0 35.375 * [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 35.376 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.377 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.377 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.378 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.378 * [backup-simplify]: Simplify (+ 0 0) into 0 35.379 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.380 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.381 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.382 * [backup-simplify]: Simplify (- 0) into 0 35.383 * [backup-simplify]: Simplify (+ 0 0) into 0 35.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.384 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.385 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.385 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.386 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.386 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.387 * [backup-simplify]: Simplify (- 0) into 0 35.387 * [backup-simplify]: Simplify (+ 0 0) into 0 35.388 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 35.389 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.390 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.390 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.391 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.391 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.392 * [backup-simplify]: Simplify (+ 0 0) into 0 35.393 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 35.393 * [backup-simplify]: Simplify (+ 0 0) into 0 35.393 * [backup-simplify]: Simplify (- 0) into 0 35.394 * [backup-simplify]: Simplify (+ 0 0) into 0 35.398 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 35.403 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 35.412 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 35.415 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 35.415 * [backup-simplify]: Simplify (+ 0) into 0 35.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.416 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.417 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.417 * [backup-simplify]: Simplify (- 0) into 0 35.417 * [backup-simplify]: Simplify (+ 0 0) into 0 35.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 35.418 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 35.418 * [backup-simplify]: Simplify (+ 0) into 0 35.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.418 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.419 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.419 * [backup-simplify]: Simplify (+ 0 0) into 0 35.419 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 35.420 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 35.420 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (pow (cos (/ -0.5 phi2)) 3))) into 0 35.420 * [backup-simplify]: Simplify (+ 0) into 0 35.420 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.421 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.421 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.422 * [backup-simplify]: Simplify (+ 0 0) into 0 35.422 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 35.422 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 35.422 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) into 0 35.423 * [backup-simplify]: Simplify (+ 0) into 0 35.423 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.423 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.424 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.424 * [backup-simplify]: Simplify (- 0) into 0 35.424 * [backup-simplify]: Simplify (+ 0 0) into 0 35.424 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 35.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 35.425 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3))))) into 0 35.426 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 35.426 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 35.426 * [backup-simplify]: Simplify (+ 0) into 0 35.427 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.427 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.428 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.428 * [backup-simplify]: Simplify (- 0) into 0 35.428 * [backup-simplify]: Simplify (+ 0 0) into 0 35.428 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 35.428 * [backup-simplify]: Simplify (+ 0) into 0 35.429 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.429 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.429 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.430 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.430 * [backup-simplify]: Simplify (- 0) into 0 35.430 * [backup-simplify]: Simplify (+ 0 0) into 0 35.430 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 35.431 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 35.431 * [backup-simplify]: Simplify (+ 0) into 0 35.431 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.431 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.437 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.438 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.438 * [backup-simplify]: Simplify (+ 0 0) into 0 35.438 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 35.439 * [backup-simplify]: Simplify (+ 0) into 0 35.439 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.439 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.441 * [backup-simplify]: Simplify (+ 0 0) into 0 35.441 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 35.441 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 35.441 * [backup-simplify]: Simplify (+ 0 0) into 0 35.442 * [backup-simplify]: Simplify (+ 0) into 0 35.442 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.443 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.444 * [backup-simplify]: Simplify (+ 0 0) into 0 35.444 * [backup-simplify]: Simplify (+ 0) into 0 35.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.444 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.445 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.446 * [backup-simplify]: Simplify (- 0) into 0 35.446 * [backup-simplify]: Simplify (+ 0 0) into 0 35.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 35.446 * [backup-simplify]: Simplify (+ 0) into 0 35.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.447 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.447 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.448 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.448 * [backup-simplify]: Simplify (+ 0 0) into 0 35.448 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 35.448 * [backup-simplify]: Simplify (+ 0) into 0 35.449 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.449 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.449 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.450 * [backup-simplify]: Simplify (- 0) into 0 35.450 * [backup-simplify]: Simplify (+ 0 0) into 0 35.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 35.451 * [backup-simplify]: Simplify (+ 0) into 0 35.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.451 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.452 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.453 * [backup-simplify]: Simplify (- 0) into 0 35.453 * [backup-simplify]: Simplify (+ 0 0) into 0 35.453 * [backup-simplify]: Simplify (+ 0) into 0 35.453 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.454 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.454 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.454 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.455 * [backup-simplify]: Simplify (+ 0 0) into 0 35.455 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 35.455 * [backup-simplify]: Simplify (+ 0) into 0 35.456 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.456 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.456 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.457 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.457 * [backup-simplify]: Simplify (- 0) into 0 35.457 * [backup-simplify]: Simplify (+ 0 0) into 0 35.457 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 35.457 * [backup-simplify]: Simplify (+ 0) into 0 35.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.458 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.458 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.459 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.464 * [backup-simplify]: Simplify (+ 0 0) into 0 35.465 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 35.465 * [backup-simplify]: Simplify (+ 0 0) into 0 35.466 * [backup-simplify]: Simplify (- 0) into 0 35.466 * [backup-simplify]: Simplify (+ 0 0) into 0 35.468 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 35.469 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 35.473 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 35.474 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.474 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.474 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.475 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.475 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.476 * [backup-simplify]: Simplify (- 0) into 0 35.476 * [backup-simplify]: Simplify (+ 0 0) into 0 35.476 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 35.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.478 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.478 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.479 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.479 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.479 * [backup-simplify]: Simplify (+ 0 0) into 0 35.480 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.480 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 35.481 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 3)))) into 0 35.482 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.482 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.483 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.483 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.483 * [backup-simplify]: Simplify (+ 0 0) into 0 35.484 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.484 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.485 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3))))) into 0 35.486 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.486 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.486 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.487 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.487 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.487 * [backup-simplify]: Simplify (- 0) into 0 35.488 * [backup-simplify]: Simplify (+ 0 0) into 0 35.488 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.489 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 35.490 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))))) into 0 35.490 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 35.491 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 35.491 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.492 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.493 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.493 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.493 * [backup-simplify]: Simplify (- 0) into 0 35.493 * [backup-simplify]: Simplify (+ 0 0) into 0 35.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.494 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.495 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.495 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.496 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.496 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.496 * [backup-simplify]: Simplify (- 0) into 0 35.497 * [backup-simplify]: Simplify (+ 0 0) into 0 35.497 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.498 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 35.498 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.499 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.500 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.501 * [backup-simplify]: Simplify (+ 0 0) into 0 35.501 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.502 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.502 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.503 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.503 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.503 * [backup-simplify]: Simplify (+ 0 0) into 0 35.504 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.505 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.505 * [backup-simplify]: Simplify (+ 0 0) into 0 35.505 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.507 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.507 * [backup-simplify]: Simplify (+ 0 0) into 0 35.508 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.509 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.510 * [backup-simplify]: Simplify (- 0) into 0 35.510 * [backup-simplify]: Simplify (+ 0 0) into 0 35.510 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.511 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.512 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.513 * [backup-simplify]: Simplify (+ 0 0) into 0 35.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 35.514 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.514 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.515 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.515 * [backup-simplify]: Simplify (- 0) into 0 35.516 * [backup-simplify]: Simplify (+ 0 0) into 0 35.516 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 35.517 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.517 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.518 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.519 * [backup-simplify]: Simplify (- 0) into 0 35.520 * [backup-simplify]: Simplify (+ 0 0) into 0 35.520 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.521 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.522 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.522 * [backup-simplify]: Simplify (+ 0 0) into 0 35.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.523 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.524 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.525 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.525 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.526 * [backup-simplify]: Simplify (- 0) into 0 35.526 * [backup-simplify]: Simplify (+ 0 0) into 0 35.526 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 35.527 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.527 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.528 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.529 * [backup-simplify]: Simplify (+ 0 0) into 0 35.529 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 35.529 * [backup-simplify]: Simplify (+ 0 0) into 0 35.530 * [backup-simplify]: Simplify (- 0) into 0 35.530 * [backup-simplify]: Simplify (+ 0 0) into 0 35.531 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 35.533 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 35.538 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 35.542 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 35.546 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 35.549 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi2)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 35.560 * [backup-simplify]: Simplify (+ (* 3 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 35.561 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.562 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.562 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.562 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.563 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.563 * [backup-simplify]: Simplify (- 0) into 0 35.563 * [backup-simplify]: Simplify (+ 0 0) into 0 35.564 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.564 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.565 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.565 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.566 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.567 * [backup-simplify]: Simplify (- 0) into 0 35.568 * [backup-simplify]: Simplify (+ 0 0) into 0 35.569 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.569 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 35.570 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.571 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.572 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.573 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.573 * [backup-simplify]: Simplify (+ 0 0) into 0 35.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.575 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.576 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.577 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.578 * [backup-simplify]: Simplify (+ 0 0) into 0 35.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.579 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.580 * [backup-simplify]: Simplify (+ 0 0) into 0 35.581 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.582 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.583 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.584 * [backup-simplify]: Simplify (- 0) into 0 35.584 * [backup-simplify]: Simplify (+ 0 0) into 0 35.585 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.586 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.586 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.587 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.588 * [backup-simplify]: Simplify (+ 0 0) into 0 35.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.589 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.590 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.591 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.592 * [backup-simplify]: Simplify (+ 0 0) into 0 35.593 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 35.594 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.595 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.596 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.596 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.597 * [backup-simplify]: Simplify (- 0) into 0 35.597 * [backup-simplify]: Simplify (+ 0 0) into 0 35.598 * [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 35.599 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.600 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.600 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.601 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.602 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.602 * [backup-simplify]: Simplify (+ 0 0) into 0 35.603 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.605 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.605 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.606 * [backup-simplify]: Simplify (- 0) into 0 35.606 * [backup-simplify]: Simplify (+ 0 0) into 0 35.607 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.608 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.609 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.609 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.610 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.610 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.611 * [backup-simplify]: Simplify (- 0) into 0 35.611 * [backup-simplify]: Simplify (+ 0 0) into 0 35.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 35.613 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.614 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.614 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.615 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.616 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.617 * [backup-simplify]: Simplify (+ 0 0) into 0 35.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 35.619 * [backup-simplify]: Simplify (+ 0 0) into 0 35.619 * [backup-simplify]: Simplify (- 0) into 0 35.620 * [backup-simplify]: Simplify (+ 0 0) into 0 35.624 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 35.629 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 35.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 35.650 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 35.650 * [backup-simplify]: Simplify (+ 0) into 0 35.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.651 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.652 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.653 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.653 * [backup-simplify]: Simplify (+ 0 0) into 0 35.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 35.654 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 35.654 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0 35.654 * [backup-simplify]: Simplify (+ 0) into 0 35.655 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.655 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.656 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.657 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.657 * [backup-simplify]: Simplify (- 0) into 0 35.657 * [backup-simplify]: Simplify (+ 0 0) into 0 35.658 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 5))) into 0 35.658 * [backup-simplify]: Simplify (+ 0) into 0 35.659 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.659 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.660 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.660 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.660 * [backup-simplify]: Simplify (- 0) into 0 35.661 * [backup-simplify]: Simplify (+ 0 0) into 0 35.661 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) into 0 35.662 * [backup-simplify]: Simplify (+ 0) into 0 35.662 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.662 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.664 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.664 * [backup-simplify]: Simplify (+ 0 0) into 0 35.664 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 35.664 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 35.664 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 4))) into 0 35.665 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 5) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 35.665 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 35.666 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 35.666 * [backup-simplify]: Simplify (+ 0) into 0 35.666 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.666 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.667 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.667 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.667 * [backup-simplify]: Simplify (- 0) into 0 35.668 * [backup-simplify]: Simplify (+ 0 0) into 0 35.668 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 35.668 * [backup-simplify]: Simplify (+ 0) into 0 35.668 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.669 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.669 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.669 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.670 * [backup-simplify]: Simplify (- 0) into 0 35.670 * [backup-simplify]: Simplify (+ 0 0) into 0 35.670 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 35.670 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 35.671 * [backup-simplify]: Simplify (+ 0) into 0 35.671 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.671 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.672 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.672 * [backup-simplify]: Simplify (+ 0 0) into 0 35.672 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 35.673 * [backup-simplify]: Simplify (+ 0) into 0 35.673 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.673 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.674 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.674 * [backup-simplify]: Simplify (+ 0 0) into 0 35.674 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 35.675 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 35.675 * [backup-simplify]: Simplify (+ 0 0) into 0 35.675 * [backup-simplify]: Simplify (+ 0) into 0 35.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.676 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.676 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.677 * [backup-simplify]: Simplify (+ 0 0) into 0 35.677 * [backup-simplify]: Simplify (+ 0) into 0 35.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.677 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.678 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.678 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.678 * [backup-simplify]: Simplify (- 0) into 0 35.679 * [backup-simplify]: Simplify (+ 0 0) into 0 35.679 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 35.679 * [backup-simplify]: Simplify (+ 0) into 0 35.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.680 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.680 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.681 * [backup-simplify]: Simplify (+ 0 0) into 0 35.681 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 35.681 * [backup-simplify]: Simplify (+ 0) into 0 35.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.681 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.683 * [backup-simplify]: Simplify (- 0) into 0 35.683 * [backup-simplify]: Simplify (+ 0 0) into 0 35.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 35.683 * [backup-simplify]: Simplify (+ 0) into 0 35.684 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.684 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.685 * [backup-simplify]: Simplify (- 0) into 0 35.685 * [backup-simplify]: Simplify (+ 0 0) into 0 35.685 * [backup-simplify]: Simplify (+ 0) into 0 35.686 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.686 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.686 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.687 * [backup-simplify]: Simplify (+ 0 0) into 0 35.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 35.687 * [backup-simplify]: Simplify (+ 0) into 0 35.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.688 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.688 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.689 * [backup-simplify]: Simplify (- 0) into 0 35.689 * [backup-simplify]: Simplify (+ 0 0) into 0 35.689 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 35.689 * [backup-simplify]: Simplify (+ 0) into 0 35.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.690 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.691 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.691 * [backup-simplify]: Simplify (+ 0 0) into 0 35.691 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 35.691 * [backup-simplify]: Simplify (+ 0 0) into 0 35.692 * [backup-simplify]: Simplify (- 0) into 0 35.692 * [backup-simplify]: Simplify (+ 0 0) into 0 35.693 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 35.694 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 35.700 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 35.709 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.710 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.711 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.712 * [backup-simplify]: Simplify (+ 0 0) into 0 35.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.714 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0 35.715 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.716 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.717 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.718 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.718 * [backup-simplify]: Simplify (- 0) into 0 35.719 * [backup-simplify]: Simplify (+ 0 0) into 0 35.719 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 5)))) into 0 35.720 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.721 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.722 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.723 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.723 * [backup-simplify]: Simplify (- 0) into 0 35.723 * [backup-simplify]: Simplify (+ 0 0) into 0 35.724 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))))) into 0 35.725 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.726 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.727 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.727 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.728 * [backup-simplify]: Simplify (+ 0 0) into 0 35.729 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.730 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 35.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 4)))) into 0 35.731 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 5) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 35.732 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 35.733 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 35.734 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.735 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.736 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.737 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.737 * [backup-simplify]: Simplify (- 0) into 0 35.737 * [backup-simplify]: Simplify (+ 0 0) into 0 35.738 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.739 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.740 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.740 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.740 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.741 * [backup-simplify]: Simplify (- 0) into 0 35.741 * [backup-simplify]: Simplify (+ 0 0) into 0 35.742 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.742 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 35.743 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.743 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.743 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.744 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.744 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.745 * [backup-simplify]: Simplify (+ 0 0) into 0 35.745 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.745 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.746 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.746 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.747 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.747 * [backup-simplify]: Simplify (+ 0 0) into 0 35.748 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.748 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.749 * [backup-simplify]: Simplify (+ 0 0) into 0 35.749 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.750 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.750 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.750 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.751 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.751 * [backup-simplify]: Simplify (+ 0 0) into 0 35.751 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.752 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.752 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.753 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.753 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.753 * [backup-simplify]: Simplify (- 0) into 0 35.753 * [backup-simplify]: Simplify (+ 0 0) into 0 35.754 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.754 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.757 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.757 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.758 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.758 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.759 * [backup-simplify]: Simplify (+ 0 0) into 0 35.759 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 35.760 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.760 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.760 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.761 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.761 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.761 * [backup-simplify]: Simplify (- 0) into 0 35.762 * [backup-simplify]: Simplify (+ 0 0) into 0 35.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 35.763 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.764 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.764 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.765 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.765 * [backup-simplify]: Simplify (- 0) into 0 35.765 * [backup-simplify]: Simplify (+ 0 0) into 0 35.766 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.766 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.767 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.768 * [backup-simplify]: Simplify (+ 0 0) into 0 35.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.769 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.770 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.771 * [backup-simplify]: Simplify (- 0) into 0 35.771 * [backup-simplify]: Simplify (+ 0 0) into 0 35.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 35.772 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.773 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.773 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.774 * [backup-simplify]: Simplify (+ 0 0) into 0 35.774 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 35.775 * [backup-simplify]: Simplify (+ 0 0) into 0 35.775 * [backup-simplify]: Simplify (- 0) into 0 35.775 * [backup-simplify]: Simplify (+ 0 0) into 0 35.777 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 35.778 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 35.783 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 35.788 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 35.792 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 35.796 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (pow (sin (/ -0.5 phi2)) 5) (cos (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 35.803 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi1)) 5) (* (pow (sin (/ -0.5 phi2)) 5) (cos (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 35.804 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.804 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.805 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.805 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.806 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.806 * [backup-simplify]: Simplify (- 0) into 0 35.806 * [backup-simplify]: Simplify (+ 0 0) into 0 35.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.807 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.808 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.809 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.809 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.809 * [backup-simplify]: Simplify (- 0) into 0 35.810 * [backup-simplify]: Simplify (+ 0 0) into 0 35.811 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.812 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 35.812 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.813 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.814 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.814 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.814 * [backup-simplify]: Simplify (+ 0 0) into 0 35.815 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.816 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.816 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.816 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.817 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.817 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.817 * [backup-simplify]: Simplify (+ 0 0) into 0 35.818 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.818 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.819 * [backup-simplify]: Simplify (+ 0 0) into 0 35.819 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.820 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.820 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.820 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.821 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.821 * [backup-simplify]: Simplify (- 0) into 0 35.821 * [backup-simplify]: Simplify (+ 0 0) into 0 35.822 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.822 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.822 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.823 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.823 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.823 * [backup-simplify]: Simplify (+ 0 0) into 0 35.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.824 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.825 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.825 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.825 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.826 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.831 * [backup-simplify]: Simplify (+ 0 0) into 0 35.832 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 35.832 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.833 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.834 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.834 * [backup-simplify]: Simplify (- 0) into 0 35.834 * [backup-simplify]: Simplify (+ 0 0) into 0 35.835 * [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 35.836 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.836 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.836 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.837 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.837 * [backup-simplify]: Simplify (+ 0 0) into 0 35.838 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.838 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.839 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.839 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.840 * [backup-simplify]: Simplify (- 0) into 0 35.840 * [backup-simplify]: Simplify (+ 0 0) into 0 35.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.841 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.841 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.842 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.842 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.843 * [backup-simplify]: Simplify (- 0) into 0 35.843 * [backup-simplify]: Simplify (+ 0 0) into 0 35.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 35.844 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.844 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.845 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.845 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.846 * [backup-simplify]: Simplify (+ 0 0) into 0 35.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 35.847 * [backup-simplify]: Simplify (+ 0 0) into 0 35.847 * [backup-simplify]: Simplify (- 0) into 0 35.848 * [backup-simplify]: Simplify (+ 0 0) into 0 35.850 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 35.853 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 35.860 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 35.865 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 35.866 * [backup-simplify]: Simplify (+ 0) into 0 35.867 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.867 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.869 * [backup-simplify]: Simplify (- 0) into 0 35.869 * [backup-simplify]: Simplify (+ 0 0) into 0 35.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 35.870 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 35.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 4))) into 0 35.871 * [backup-simplify]: Simplify (+ 0) into 0 35.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.871 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.872 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.873 * [backup-simplify]: Simplify (+ 0 0) into 0 35.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 5))) into 0 35.874 * [backup-simplify]: Simplify (+ 0) into 0 35.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.875 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.875 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.876 * [backup-simplify]: Simplify (+ 0 0) into 0 35.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) into 0 35.877 * [backup-simplify]: Simplify (+ 0) into 0 35.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.878 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.880 * [backup-simplify]: Simplify (- 0) into 0 35.880 * [backup-simplify]: Simplify (+ 0 0) into 0 35.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 35.881 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 35.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 4))) into 0 35.881 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 5) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 35.882 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 35.883 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 35.883 * [backup-simplify]: Simplify (+ 0) into 0 35.884 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.884 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.885 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.885 * [backup-simplify]: Simplify (- 0) into 0 35.885 * [backup-simplify]: Simplify (+ 0 0) into 0 35.885 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 35.886 * [backup-simplify]: Simplify (+ 0) into 0 35.886 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.886 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.887 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.887 * [backup-simplify]: Simplify (- 0) into 0 35.887 * [backup-simplify]: Simplify (+ 0 0) into 0 35.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 35.888 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 35.888 * [backup-simplify]: Simplify (+ 0) into 0 35.888 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.889 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.889 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.890 * [backup-simplify]: Simplify (+ 0 0) into 0 35.890 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 35.890 * [backup-simplify]: Simplify (+ 0) into 0 35.890 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.890 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.891 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.891 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.892 * [backup-simplify]: Simplify (+ 0 0) into 0 35.892 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 35.892 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 35.892 * [backup-simplify]: Simplify (+ 0 0) into 0 35.893 * [backup-simplify]: Simplify (+ 0) into 0 35.893 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.893 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.894 * [backup-simplify]: Simplify (+ 0 0) into 0 35.894 * [backup-simplify]: Simplify (+ 0) into 0 35.895 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.895 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.896 * [backup-simplify]: Simplify (- 0) into 0 35.896 * [backup-simplify]: Simplify (+ 0 0) into 0 35.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 35.896 * [backup-simplify]: Simplify (+ 0) into 0 35.897 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.897 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.898 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.898 * [backup-simplify]: Simplify (+ 0 0) into 0 35.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 35.899 * [backup-simplify]: Simplify (+ 0) into 0 35.899 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.899 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.899 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.900 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.900 * [backup-simplify]: Simplify (- 0) into 0 35.900 * [backup-simplify]: Simplify (+ 0 0) into 0 35.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 35.901 * [backup-simplify]: Simplify (+ 0) into 0 35.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.901 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.902 * [backup-simplify]: Simplify (- 0) into 0 35.903 * [backup-simplify]: Simplify (+ 0 0) into 0 35.903 * [backup-simplify]: Simplify (+ 0) into 0 35.903 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 35.903 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 35.904 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.904 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 35.904 * [backup-simplify]: Simplify (+ 0 0) into 0 35.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 35.905 * [backup-simplify]: Simplify (+ 0) into 0 35.905 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.905 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.906 * [backup-simplify]: Simplify (- 0) into 0 35.906 * [backup-simplify]: Simplify (+ 0 0) into 0 35.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 35.907 * [backup-simplify]: Simplify (+ 0) into 0 35.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 35.907 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 35.908 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 35.908 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 35.908 * [backup-simplify]: Simplify (+ 0 0) into 0 35.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 35.909 * [backup-simplify]: Simplify (+ 0 0) into 0 35.909 * [backup-simplify]: Simplify (- 0) into 0 35.909 * [backup-simplify]: Simplify (+ 0 0) into 0 35.911 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 35.912 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 35.916 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 35.917 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.917 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.918 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.919 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.920 * [backup-simplify]: Simplify (- 0) into 0 35.920 * [backup-simplify]: Simplify (+ 0 0) into 0 35.921 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.921 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 35.922 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 4)))) into 0 35.923 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.924 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.925 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.926 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.926 * [backup-simplify]: Simplify (+ 0 0) into 0 35.927 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 5)))) into 0 35.928 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.929 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.930 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.930 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.931 * [backup-simplify]: Simplify (+ 0 0) into 0 35.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5))))) into 0 35.932 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.933 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.933 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.934 * [backup-simplify]: Simplify (- 0) into 0 35.934 * [backup-simplify]: Simplify (+ 0 0) into 0 35.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.935 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 35.936 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 4)))) into 0 35.936 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 5) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 35.937 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 35.937 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 35.938 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.938 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.939 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.940 * [backup-simplify]: Simplify (- 0) into 0 35.940 * [backup-simplify]: Simplify (+ 0 0) into 0 35.940 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.941 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.941 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.942 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.943 * [backup-simplify]: Simplify (- 0) into 0 35.943 * [backup-simplify]: Simplify (+ 0 0) into 0 35.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 35.944 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 35.944 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.945 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.945 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.950 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.951 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.951 * [backup-simplify]: Simplify (+ 0 0) into 0 35.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.952 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.953 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.953 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.953 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.954 * [backup-simplify]: Simplify (+ 0 0) into 0 35.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 35.955 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 35.955 * [backup-simplify]: Simplify (+ 0 0) into 0 35.956 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.957 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.957 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.957 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.958 * [backup-simplify]: Simplify (+ 0 0) into 0 35.958 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.959 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.959 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.959 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.960 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.960 * [backup-simplify]: Simplify (- 0) into 0 35.960 * [backup-simplify]: Simplify (+ 0 0) into 0 35.961 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 35.961 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.962 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.962 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.962 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.963 * [backup-simplify]: Simplify (+ 0 0) into 0 35.963 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 35.964 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.964 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.965 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.965 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.966 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.966 * [backup-simplify]: Simplify (- 0) into 0 35.967 * [backup-simplify]: Simplify (+ 0 0) into 0 35.967 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 35.968 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.969 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.970 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.971 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.971 * [backup-simplify]: Simplify (- 0) into 0 35.971 * [backup-simplify]: Simplify (+ 0 0) into 0 35.972 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 35.973 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 35.974 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.974 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 35.975 * [backup-simplify]: Simplify (+ 0 0) into 0 35.975 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 35.976 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.977 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.977 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.978 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.978 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.979 * [backup-simplify]: Simplify (- 0) into 0 35.979 * [backup-simplify]: Simplify (+ 0 0) into 0 35.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 35.980 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 35.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 35.981 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 35.982 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 35.982 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 35.982 * [backup-simplify]: Simplify (+ 0 0) into 0 35.983 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 35.983 * [backup-simplify]: Simplify (+ 0 0) into 0 35.983 * [backup-simplify]: Simplify (- 0) into 0 35.984 * [backup-simplify]: Simplify (+ 0 0) into 0 35.986 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 35.987 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 35.993 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 35.997 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 36.001 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 36.005 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi1)) 5) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 36.010 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi2)) 5) (* (pow (cos (/ -0.5 phi1)) 5) (sin (/ -0.5 phi2))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 36.015 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 36.024 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 36.025 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.026 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.027 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.028 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.028 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.029 * [backup-simplify]: Simplify (- 0) into 0 36.029 * [backup-simplify]: Simplify (+ 0 0) into 0 36.030 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.031 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.032 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.032 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.033 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.034 * [backup-simplify]: Simplify (- 0) into 0 36.034 * [backup-simplify]: Simplify (+ 0 0) into 0 36.035 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 36.036 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 36.037 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.037 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.038 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.038 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.039 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.039 * [backup-simplify]: Simplify (+ 0 0) into 0 36.040 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.041 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.041 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.042 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.042 * [backup-simplify]: Simplify (+ 0 0) into 0 36.043 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.043 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.043 * [backup-simplify]: Simplify (+ 0 0) into 0 36.044 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.045 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.045 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.046 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.046 * [backup-simplify]: Simplify (- 0) into 0 36.046 * [backup-simplify]: Simplify (+ 0 0) into 0 36.047 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.047 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.047 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.048 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.048 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.048 * [backup-simplify]: Simplify (+ 0 0) into 0 36.049 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.049 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.050 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.050 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.050 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.051 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.051 * [backup-simplify]: Simplify (+ 0 0) into 0 36.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 36.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.052 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.053 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.053 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.054 * [backup-simplify]: Simplify (- 0) into 0 36.054 * [backup-simplify]: Simplify (+ 0 0) into 0 36.054 * [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 36.055 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.055 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.055 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.056 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.056 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.057 * [backup-simplify]: Simplify (+ 0 0) into 0 36.057 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.058 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.058 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.059 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.059 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.059 * [backup-simplify]: Simplify (- 0) into 0 36.059 * [backup-simplify]: Simplify (+ 0 0) into 0 36.060 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.060 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.061 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.061 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.062 * [backup-simplify]: Simplify (- 0) into 0 36.063 * [backup-simplify]: Simplify (+ 0 0) into 0 36.063 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 36.064 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.064 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.065 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.065 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.065 * [backup-simplify]: Simplify (+ 0 0) into 0 36.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 36.066 * [backup-simplify]: Simplify (+ 0 0) into 0 36.071 * [backup-simplify]: Simplify (- 0) into 0 36.071 * [backup-simplify]: Simplify (+ 0 0) into 0 36.075 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 36.077 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 36.077 * [backup-simplify]: Simplify (+ 0) into 0 36.078 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.078 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.078 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.079 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.079 * [backup-simplify]: Simplify (- 0) into 0 36.079 * [backup-simplify]: Simplify (+ 0 0) into 0 36.079 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 36.080 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 36.080 * [backup-simplify]: Simplify (+ 0) into 0 36.080 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.080 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.081 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.081 * [backup-simplify]: Simplify (- 0) into 0 36.082 * [backup-simplify]: Simplify (+ 0 0) into 0 36.082 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 36.082 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 36.082 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (* 0 (pow (cos (/ -0.5 phi1)) 4))) into 0 36.083 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 36.083 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 36.083 * [backup-simplify]: Simplify (+ 0) into 0 36.084 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.084 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.084 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.085 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.085 * [backup-simplify]: Simplify (- 0) into 0 36.085 * [backup-simplify]: Simplify (+ 0 0) into 0 36.086 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 36.086 * [backup-simplify]: Simplify (+ 0) into 0 36.086 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.087 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.088 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.088 * [backup-simplify]: Simplify (- 0) into 0 36.088 * [backup-simplify]: Simplify (+ 0 0) into 0 36.089 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 36.089 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 36.089 * [backup-simplify]: Simplify (+ 0) into 0 36.090 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.090 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.091 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.091 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.091 * [backup-simplify]: Simplify (+ 0 0) into 0 36.092 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 36.092 * [backup-simplify]: Simplify (+ 0) into 0 36.092 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.093 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.093 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.094 * [backup-simplify]: Simplify (+ 0 0) into 0 36.094 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 36.095 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 36.095 * [backup-simplify]: Simplify (+ 0 0) into 0 36.095 * [backup-simplify]: Simplify (+ 0) into 0 36.096 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.096 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.097 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.097 * [backup-simplify]: Simplify (+ 0 0) into 0 36.098 * [backup-simplify]: Simplify (+ 0) into 0 36.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.098 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.099 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.100 * [backup-simplify]: Simplify (- 0) into 0 36.100 * [backup-simplify]: Simplify (+ 0 0) into 0 36.100 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 36.101 * [backup-simplify]: Simplify (+ 0) into 0 36.101 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.101 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.102 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.103 * [backup-simplify]: Simplify (+ 0 0) into 0 36.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 36.103 * [backup-simplify]: Simplify (+ 0) into 0 36.104 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.106 * [backup-simplify]: Simplify (- 0) into 0 36.106 * [backup-simplify]: Simplify (+ 0 0) into 0 36.106 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 36.107 * [backup-simplify]: Simplify (+ 0) into 0 36.107 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.107 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.108 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.109 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.109 * [backup-simplify]: Simplify (- 0) into 0 36.109 * [backup-simplify]: Simplify (+ 0 0) into 0 36.110 * [backup-simplify]: Simplify (+ 0) into 0 36.110 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.110 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.112 * [backup-simplify]: Simplify (+ 0 0) into 0 36.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 36.112 * [backup-simplify]: Simplify (+ 0) into 0 36.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.113 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.115 * [backup-simplify]: Simplify (- 0) into 0 36.115 * [backup-simplify]: Simplify (+ 0 0) into 0 36.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 36.116 * [backup-simplify]: Simplify (+ 0) into 0 36.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.116 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.117 * [backup-simplify]: Simplify (+ 0 0) into 0 36.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 36.118 * [backup-simplify]: Simplify (+ 0 0) into 0 36.118 * [backup-simplify]: Simplify (- 0) into 0 36.118 * [backup-simplify]: Simplify (+ 0 0) into 0 36.120 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 36.121 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 36.125 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 36.126 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.126 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.127 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.127 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.127 * [backup-simplify]: Simplify (- 0) into 0 36.128 * [backup-simplify]: Simplify (+ 0 0) into 0 36.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.128 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 36.129 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.130 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.130 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.130 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.131 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.131 * [backup-simplify]: Simplify (- 0) into 0 36.131 * [backup-simplify]: Simplify (+ 0 0) into 0 36.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 36.132 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 36.132 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 4)))) into 0 36.133 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 36.134 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 36.134 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.135 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.135 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.136 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.136 * [backup-simplify]: Simplify (- 0) into 0 36.136 * [backup-simplify]: Simplify (+ 0 0) into 0 36.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.137 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.137 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.138 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.138 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.139 * [backup-simplify]: Simplify (- 0) into 0 36.139 * [backup-simplify]: Simplify (+ 0 0) into 0 36.139 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 36.140 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 36.140 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.141 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.141 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.142 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.142 * [backup-simplify]: Simplify (+ 0 0) into 0 36.142 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.143 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.144 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.144 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.144 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.145 * [backup-simplify]: Simplify (+ 0 0) into 0 36.145 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.146 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.146 * [backup-simplify]: Simplify (+ 0 0) into 0 36.146 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.147 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.148 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.148 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.148 * [backup-simplify]: Simplify (+ 0 0) into 0 36.149 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.149 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.150 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.150 * [backup-simplify]: Simplify (- 0) into 0 36.151 * [backup-simplify]: Simplify (+ 0 0) into 0 36.151 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.152 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.152 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.153 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.153 * [backup-simplify]: Simplify (+ 0 0) into 0 36.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 36.154 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.155 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.156 * [backup-simplify]: Simplify (- 0) into 0 36.156 * [backup-simplify]: Simplify (+ 0 0) into 0 36.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 36.157 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.158 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.158 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.158 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.159 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.159 * [backup-simplify]: Simplify (- 0) into 0 36.159 * [backup-simplify]: Simplify (+ 0 0) into 0 36.160 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.160 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.160 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.161 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.162 * [backup-simplify]: Simplify (+ 0 0) into 0 36.162 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.163 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.163 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.164 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.164 * [backup-simplify]: Simplify (- 0) into 0 36.165 * [backup-simplify]: Simplify (+ 0 0) into 0 36.165 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 36.166 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.167 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.167 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.167 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.168 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.168 * [backup-simplify]: Simplify (+ 0 0) into 0 36.169 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 36.169 * [backup-simplify]: Simplify (+ 0 0) into 0 36.169 * [backup-simplify]: Simplify (- 0) into 0 36.170 * [backup-simplify]: Simplify (+ 0 0) into 0 36.172 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 36.173 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 36.178 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 36.186 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 36.189 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 36.191 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 36.195 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 36.196 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.197 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.197 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.198 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.198 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.198 * [backup-simplify]: Simplify (- 0) into 0 36.199 * [backup-simplify]: Simplify (+ 0 0) into 0 36.199 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.200 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.201 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.202 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.202 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.203 * [backup-simplify]: Simplify (- 0) into 0 36.203 * [backup-simplify]: Simplify (+ 0 0) into 0 36.203 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 36.204 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 36.205 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.206 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.207 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.207 * [backup-simplify]: Simplify (+ 0 0) into 0 36.208 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.209 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.210 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.210 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.211 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.211 * [backup-simplify]: Simplify (+ 0 0) into 0 36.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.213 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.213 * [backup-simplify]: Simplify (+ 0 0) into 0 36.214 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.215 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.215 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.216 * [backup-simplify]: Simplify (- 0) into 0 36.217 * [backup-simplify]: Simplify (+ 0 0) into 0 36.217 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.218 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.218 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.219 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.220 * [backup-simplify]: Simplify (+ 0 0) into 0 36.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.221 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.221 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.222 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.222 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.223 * [backup-simplify]: Simplify (+ 0 0) into 0 36.223 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 36.224 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.224 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.224 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.225 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.225 * [backup-simplify]: Simplify (- 0) into 0 36.226 * [backup-simplify]: Simplify (+ 0 0) into 0 36.226 * [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 36.227 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.227 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.227 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.228 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.228 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.228 * [backup-simplify]: Simplify (+ 0 0) into 0 36.229 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.230 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.230 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.231 * [backup-simplify]: Simplify (- 0) into 0 36.231 * [backup-simplify]: Simplify (+ 0 0) into 0 36.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.232 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.232 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.232 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.233 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.233 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.234 * [backup-simplify]: Simplify (- 0) into 0 36.234 * [backup-simplify]: Simplify (+ 0 0) into 0 36.234 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 36.235 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.235 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.235 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.236 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.236 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.236 * [backup-simplify]: Simplify (+ 0 0) into 0 36.237 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 36.237 * [backup-simplify]: Simplify (+ 0 0) into 0 36.237 * [backup-simplify]: Simplify (- 0) into 0 36.238 * [backup-simplify]: Simplify (+ 0 0) into 0 36.241 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 36.244 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 36.252 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 36.255 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 36.256 * [backup-simplify]: Simplify (+ 0) into 0 36.256 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.256 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.257 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.258 * [backup-simplify]: Simplify (+ 0 0) into 0 36.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 36.258 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 36.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 4))) into 0 36.258 * [backup-simplify]: Simplify (+ 0) into 0 36.259 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.259 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.260 * [backup-simplify]: Simplify (+ 0 0) into 0 36.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 36.260 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 36.261 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0 36.261 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 5) 0) (* 0 (pow (sin (/ -0.5 phi2)) 5))) into 0 36.261 * [backup-simplify]: Simplify (+ 0) into 0 36.261 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.262 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.262 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.264 * [backup-simplify]: Simplify (- 0) into 0 36.264 * [backup-simplify]: Simplify (+ 0 0) into 0 36.264 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) into 0 36.265 * [backup-simplify]: Simplify (+ 0) into 0 36.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.265 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.266 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.266 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.266 * [backup-simplify]: Simplify (- 0) into 0 36.267 * [backup-simplify]: Simplify (+ 0 0) into 0 36.267 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5))))) into 0 36.267 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 36.268 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 36.268 * [backup-simplify]: Simplify (+ 0) into 0 36.268 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.269 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.269 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.269 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.270 * [backup-simplify]: Simplify (- 0) into 0 36.270 * [backup-simplify]: Simplify (+ 0 0) into 0 36.270 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 36.270 * [backup-simplify]: Simplify (+ 0) into 0 36.271 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.271 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.271 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.272 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.272 * [backup-simplify]: Simplify (- 0) into 0 36.272 * [backup-simplify]: Simplify (+ 0 0) into 0 36.272 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 36.272 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 36.273 * [backup-simplify]: Simplify (+ 0) into 0 36.273 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.273 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.274 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.274 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.274 * [backup-simplify]: Simplify (+ 0 0) into 0 36.274 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 36.275 * [backup-simplify]: Simplify (+ 0) into 0 36.275 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.275 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.276 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.276 * [backup-simplify]: Simplify (+ 0 0) into 0 36.276 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 36.276 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 36.277 * [backup-simplify]: Simplify (+ 0 0) into 0 36.277 * [backup-simplify]: Simplify (+ 0) into 0 36.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.277 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.278 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.278 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.278 * [backup-simplify]: Simplify (+ 0 0) into 0 36.279 * [backup-simplify]: Simplify (+ 0) into 0 36.279 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.280 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.280 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.281 * [backup-simplify]: Simplify (- 0) into 0 36.281 * [backup-simplify]: Simplify (+ 0 0) into 0 36.281 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 36.281 * [backup-simplify]: Simplify (+ 0) into 0 36.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.282 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.282 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.283 * [backup-simplify]: Simplify (+ 0 0) into 0 36.283 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 36.283 * [backup-simplify]: Simplify (+ 0) into 0 36.284 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.284 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.284 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.284 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.285 * [backup-simplify]: Simplify (- 0) into 0 36.285 * [backup-simplify]: Simplify (+ 0 0) into 0 36.285 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 36.285 * [backup-simplify]: Simplify (+ 0) into 0 36.286 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.286 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.286 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.287 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.287 * [backup-simplify]: Simplify (- 0) into 0 36.287 * [backup-simplify]: Simplify (+ 0 0) into 0 36.287 * [backup-simplify]: Simplify (+ 0) into 0 36.288 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.288 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.288 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.289 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.289 * [backup-simplify]: Simplify (+ 0 0) into 0 36.289 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 36.289 * [backup-simplify]: Simplify (+ 0) into 0 36.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.290 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.290 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.291 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.291 * [backup-simplify]: Simplify (- 0) into 0 36.291 * [backup-simplify]: Simplify (+ 0 0) into 0 36.291 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 36.291 * [backup-simplify]: Simplify (+ 0) into 0 36.292 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.292 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.293 * [backup-simplify]: Simplify (+ 0 0) into 0 36.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 36.301 * [backup-simplify]: Simplify (+ 0 0) into 0 36.301 * [backup-simplify]: Simplify (- 0) into 0 36.302 * [backup-simplify]: Simplify (+ 0 0) into 0 36.303 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 36.305 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 36.309 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 36.310 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.311 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.311 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.311 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.312 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.312 * [backup-simplify]: Simplify (+ 0 0) into 0 36.312 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.313 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 36.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 4)))) into 0 36.314 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.314 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.314 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.315 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.315 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.315 * [backup-simplify]: Simplify (+ 0 0) into 0 36.316 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.316 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0 36.317 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 5)))) into 0 36.318 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.318 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.319 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.319 * [backup-simplify]: Simplify (- 0) into 0 36.320 * [backup-simplify]: Simplify (+ 0 0) into 0 36.320 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5))))) into 0 36.321 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.321 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.321 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.322 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.322 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.323 * [backup-simplify]: Simplify (- 0) into 0 36.323 * [backup-simplify]: Simplify (+ 0 0) into 0 36.323 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))))) into 0 36.324 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 36.325 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 36.326 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.327 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.327 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.328 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.328 * [backup-simplify]: Simplify (- 0) into 0 36.329 * [backup-simplify]: Simplify (+ 0 0) into 0 36.329 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.330 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.331 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.331 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.332 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.333 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.333 * [backup-simplify]: Simplify (- 0) into 0 36.333 * [backup-simplify]: Simplify (+ 0 0) into 0 36.334 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 36.335 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 36.336 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.337 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.337 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.338 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.338 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.339 * [backup-simplify]: Simplify (+ 0 0) into 0 36.339 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.341 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.341 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.342 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.342 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.343 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.343 * [backup-simplify]: Simplify (+ 0 0) into 0 36.344 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.345 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.345 * [backup-simplify]: Simplify (+ 0 0) into 0 36.346 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.347 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.347 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.348 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.349 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.349 * [backup-simplify]: Simplify (+ 0 0) into 0 36.350 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.352 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.353 * [backup-simplify]: Simplify (- 0) into 0 36.353 * [backup-simplify]: Simplify (+ 0 0) into 0 36.354 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.355 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.356 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.357 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.358 * [backup-simplify]: Simplify (+ 0 0) into 0 36.358 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 36.359 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.360 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.361 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.362 * [backup-simplify]: Simplify (- 0) into 0 36.362 * [backup-simplify]: Simplify (+ 0 0) into 0 36.363 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 36.364 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.365 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.365 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.366 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.366 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.367 * [backup-simplify]: Simplify (- 0) into 0 36.367 * [backup-simplify]: Simplify (+ 0 0) into 0 36.368 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.369 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.370 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.370 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.371 * [backup-simplify]: Simplify (+ 0 0) into 0 36.371 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.372 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.374 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.375 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.375 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.376 * [backup-simplify]: Simplify (- 0) into 0 36.376 * [backup-simplify]: Simplify (+ 0 0) into 0 36.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 36.378 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.379 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.380 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.381 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.381 * [backup-simplify]: Simplify (+ 0 0) into 0 36.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 36.382 * [backup-simplify]: Simplify (+ 0 0) into 0 36.383 * [backup-simplify]: Simplify (- 0) into 0 36.383 * [backup-simplify]: Simplify (+ 0 0) into 0 36.386 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 36.390 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 36.399 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 36.407 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 36.415 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 36.422 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi1)) 5) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi1)) 5) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 36.432 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi1)) 5) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 36.438 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) 36.440 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.440 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.441 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.442 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.442 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.443 * [backup-simplify]: Simplify (- 0) into 0 36.443 * [backup-simplify]: Simplify (+ 0 0) into 0 36.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.445 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.445 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.446 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.446 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.447 * [backup-simplify]: Simplify (- 0) into 0 36.448 * [backup-simplify]: Simplify (+ 0 0) into 0 36.448 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 36.449 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 36.456 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.457 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.458 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.458 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.459 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.459 * [backup-simplify]: Simplify (+ 0 0) into 0 36.460 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.461 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.462 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.462 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.463 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.463 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.464 * [backup-simplify]: Simplify (+ 0 0) into 0 36.464 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.465 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.465 * [backup-simplify]: Simplify (+ 0 0) into 0 36.466 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.467 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.468 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.469 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.469 * [backup-simplify]: Simplify (- 0) into 0 36.470 * [backup-simplify]: Simplify (+ 0 0) into 0 36.470 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.471 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.471 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.472 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.473 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.473 * [backup-simplify]: Simplify (+ 0 0) into 0 36.474 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.476 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.476 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.477 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.478 * [backup-simplify]: Simplify (+ 0 0) into 0 36.478 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 36.479 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.480 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.480 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.481 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.481 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.481 * [backup-simplify]: Simplify (- 0) into 0 36.481 * [backup-simplify]: Simplify (+ 0 0) into 0 36.482 * [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 36.483 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.483 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.483 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.484 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.484 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.484 * [backup-simplify]: Simplify (+ 0 0) into 0 36.485 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.485 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.485 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.486 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.486 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.487 * [backup-simplify]: Simplify (- 0) into 0 36.487 * [backup-simplify]: Simplify (+ 0 0) into 0 36.487 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.488 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.488 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.488 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.489 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.489 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.489 * [backup-simplify]: Simplify (- 0) into 0 36.490 * [backup-simplify]: Simplify (+ 0 0) into 0 36.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 36.491 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.491 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.492 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.492 * [backup-simplify]: Simplify (+ 0 0) into 0 36.493 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 36.493 * [backup-simplify]: Simplify (+ 0 0) into 0 36.493 * [backup-simplify]: Simplify (- 0) into 0 36.494 * [backup-simplify]: Simplify (+ 0 0) into 0 36.497 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 36.499 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 36.499 * [backup-simplify]: Simplify (+ 0) into 0 36.499 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.499 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.501 * [backup-simplify]: Simplify (+ 0 0) into 0 36.501 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 36.501 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 36.501 * [backup-simplify]: Simplify (+ 0) into 0 36.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.502 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.503 * [backup-simplify]: Simplify (+ 0 0) into 0 36.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 36.503 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 36.503 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0 36.504 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 36.504 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 36.504 * [backup-simplify]: Simplify (+ 0) into 0 36.505 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.505 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.506 * [backup-simplify]: Simplify (- 0) into 0 36.506 * [backup-simplify]: Simplify (+ 0 0) into 0 36.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 36.506 * [backup-simplify]: Simplify (+ 0) into 0 36.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.507 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.508 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.508 * [backup-simplify]: Simplify (- 0) into 0 36.508 * [backup-simplify]: Simplify (+ 0 0) into 0 36.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 36.509 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 36.509 * [backup-simplify]: Simplify (+ 0) into 0 36.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.510 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.511 * [backup-simplify]: Simplify (+ 0 0) into 0 36.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 36.511 * [backup-simplify]: Simplify (+ 0) into 0 36.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.511 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.512 * [backup-simplify]: Simplify (+ 0 0) into 0 36.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 36.513 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 36.513 * [backup-simplify]: Simplify (+ 0 0) into 0 36.513 * [backup-simplify]: Simplify (+ 0) into 0 36.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.514 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.515 * [backup-simplify]: Simplify (+ 0 0) into 0 36.515 * [backup-simplify]: Simplify (+ 0) into 0 36.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.516 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.517 * [backup-simplify]: Simplify (- 0) into 0 36.517 * [backup-simplify]: Simplify (+ 0 0) into 0 36.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 36.518 * [backup-simplify]: Simplify (+ 0) into 0 36.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.519 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.520 * [backup-simplify]: Simplify (+ 0 0) into 0 36.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 36.521 * [backup-simplify]: Simplify (+ 0) into 0 36.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.522 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.523 * [backup-simplify]: Simplify (- 0) into 0 36.524 * [backup-simplify]: Simplify (+ 0 0) into 0 36.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 36.524 * [backup-simplify]: Simplify (+ 0) into 0 36.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.525 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.526 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.527 * [backup-simplify]: Simplify (- 0) into 0 36.527 * [backup-simplify]: Simplify (+ 0 0) into 0 36.528 * [backup-simplify]: Simplify (+ 0) into 0 36.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.528 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.530 * [backup-simplify]: Simplify (+ 0 0) into 0 36.530 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 36.531 * [backup-simplify]: Simplify (+ 0) into 0 36.531 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.531 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.533 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.533 * [backup-simplify]: Simplify (- 0) into 0 36.533 * [backup-simplify]: Simplify (+ 0 0) into 0 36.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 36.534 * [backup-simplify]: Simplify (+ 0) into 0 36.535 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.535 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.536 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.536 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.537 * [backup-simplify]: Simplify (+ 0 0) into 0 36.537 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 36.537 * [backup-simplify]: Simplify (+ 0 0) into 0 36.538 * [backup-simplify]: Simplify (- 0) into 0 36.538 * [backup-simplify]: Simplify (+ 0 0) into 0 36.541 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 36.543 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 36.550 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 36.551 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.552 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.552 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.553 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.554 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.554 * [backup-simplify]: Simplify (+ 0 0) into 0 36.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.556 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.558 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.559 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.559 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.563 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.564 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.564 * [backup-simplify]: Simplify (+ 0 0) into 0 36.565 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.566 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 36.567 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0 36.568 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 36.569 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 36.570 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.571 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.571 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.572 * [backup-simplify]: Simplify (- 0) into 0 36.573 * [backup-simplify]: Simplify (+ 0 0) into 0 36.573 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.574 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.575 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.575 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.576 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.577 * [backup-simplify]: Simplify (- 0) into 0 36.578 * [backup-simplify]: Simplify (+ 0 0) into 0 36.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 36.579 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 36.580 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.581 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.581 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.582 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.582 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.583 * [backup-simplify]: Simplify (+ 0 0) into 0 36.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.584 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.585 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.586 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.587 * [backup-simplify]: Simplify (+ 0 0) into 0 36.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.588 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.589 * [backup-simplify]: Simplify (+ 0 0) into 0 36.590 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.591 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.592 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.593 * [backup-simplify]: Simplify (+ 0 0) into 0 36.594 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.602 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.603 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.604 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.604 * [backup-simplify]: Simplify (- 0) into 0 36.605 * [backup-simplify]: Simplify (+ 0 0) into 0 36.606 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.606 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.607 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.608 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.608 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.609 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.609 * [backup-simplify]: Simplify (+ 0 0) into 0 36.610 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 36.611 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.612 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.613 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.613 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.614 * [backup-simplify]: Simplify (- 0) into 0 36.614 * [backup-simplify]: Simplify (+ 0 0) into 0 36.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 36.616 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.617 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.617 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.618 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.619 * [backup-simplify]: Simplify (- 0) into 0 36.619 * [backup-simplify]: Simplify (+ 0 0) into 0 36.620 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.621 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.622 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.623 * [backup-simplify]: Simplify (+ 0 0) into 0 36.624 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.625 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.626 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.627 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.628 * [backup-simplify]: Simplify (- 0) into 0 36.628 * [backup-simplify]: Simplify (+ 0 0) into 0 36.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 36.630 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.631 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.631 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.632 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.632 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.633 * [backup-simplify]: Simplify (+ 0 0) into 0 36.633 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 36.634 * [backup-simplify]: Simplify (+ 0 0) into 0 36.634 * [backup-simplify]: Simplify (- 0) into 0 36.635 * [backup-simplify]: Simplify (+ 0 0) into 0 36.637 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 36.640 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 36.647 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 36.652 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 36.657 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 36.662 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 36.668 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (- (+ (* (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))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 36.675 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 36.681 * [backup-simplify]: Simplify (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 36.687 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))) 36.692 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) into (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 36.694 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.694 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.695 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.695 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.696 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.696 * [backup-simplify]: Simplify (- 0) into 0 36.697 * [backup-simplify]: Simplify (+ 0 0) into 0 36.697 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.698 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.699 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.700 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.700 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.701 * [backup-simplify]: Simplify (- 0) into 0 36.701 * [backup-simplify]: Simplify (+ 0 0) into 0 36.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 36.702 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 36.703 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.704 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.705 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.706 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.706 * [backup-simplify]: Simplify (+ 0 0) into 0 36.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.707 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.708 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.709 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.710 * [backup-simplify]: Simplify (+ 0 0) into 0 36.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.711 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.711 * [backup-simplify]: Simplify (+ 0 0) into 0 36.712 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.713 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.714 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.715 * [backup-simplify]: Simplify (- 0) into 0 36.715 * [backup-simplify]: Simplify (+ 0 0) into 0 36.716 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.717 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.717 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.718 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.718 * [backup-simplify]: Simplify (+ 0 0) into 0 36.719 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.720 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.720 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.721 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.721 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.722 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.722 * [backup-simplify]: Simplify (+ 0 0) into 0 36.723 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 36.724 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.724 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.725 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.725 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.726 * [backup-simplify]: Simplify (- 0) into 0 36.727 * [backup-simplify]: Simplify (+ 0 0) into 0 36.727 * [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 36.728 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.729 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.729 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.730 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.731 * [backup-simplify]: Simplify (+ 0 0) into 0 36.732 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.733 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.733 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.734 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.734 * [backup-simplify]: Simplify (- 0) into 0 36.735 * [backup-simplify]: Simplify (+ 0 0) into 0 36.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.736 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.737 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.737 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.738 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.738 * [backup-simplify]: Simplify (- 0) into 0 36.739 * [backup-simplify]: Simplify (+ 0 0) into 0 36.739 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 36.740 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.741 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.742 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.743 * [backup-simplify]: Simplify (+ 0 0) into 0 36.743 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 36.744 * [backup-simplify]: Simplify (+ 0 0) into 0 36.744 * [backup-simplify]: Simplify (- 0) into 0 36.744 * [backup-simplify]: Simplify (+ 0 0) into 0 36.748 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 36.752 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 36.770 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 36.775 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 36.775 * [backup-simplify]: Simplify (+ 0) into 0 36.776 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.776 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.776 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.777 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.777 * [backup-simplify]: Simplify (- 0) into 0 36.778 * [backup-simplify]: Simplify (+ 0 0) into 0 36.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 36.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 36.778 * [backup-simplify]: Simplify (+ 0) into 0 36.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.779 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.780 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.780 * [backup-simplify]: Simplify (+ 0 0) into 0 36.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 36.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 36.781 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (* 0 (pow (cos (/ -0.5 phi1)) 3))) into 0 36.782 * [backup-simplify]: Simplify (+ 0) into 0 36.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.782 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.785 * [backup-simplify]: Simplify (+ 0 0) into 0 36.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 36.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 36.786 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) into 0 36.786 * [backup-simplify]: Simplify (+ 0) into 0 36.787 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.787 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.788 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.788 * [backup-simplify]: Simplify (- 0) into 0 36.789 * [backup-simplify]: Simplify (+ 0 0) into 0 36.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 36.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 36.790 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3))))) into 0 36.791 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 36.791 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 36.792 * [backup-simplify]: Simplify (+ 0) into 0 36.792 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.792 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.793 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.794 * [backup-simplify]: Simplify (- 0) into 0 36.794 * [backup-simplify]: Simplify (+ 0 0) into 0 36.794 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 36.794 * [backup-simplify]: Simplify (+ 0) into 0 36.795 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.795 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.796 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.796 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.797 * [backup-simplify]: Simplify (- 0) into 0 36.797 * [backup-simplify]: Simplify (+ 0 0) into 0 36.797 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 36.797 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 36.798 * [backup-simplify]: Simplify (+ 0) into 0 36.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.799 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.799 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.800 * [backup-simplify]: Simplify (+ 0 0) into 0 36.800 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 36.801 * [backup-simplify]: Simplify (+ 0) into 0 36.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.801 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.803 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.803 * [backup-simplify]: Simplify (+ 0 0) into 0 36.803 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 36.804 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 36.804 * [backup-simplify]: Simplify (+ 0 0) into 0 36.805 * [backup-simplify]: Simplify (+ 0) into 0 36.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.805 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.806 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.807 * [backup-simplify]: Simplify (+ 0 0) into 0 36.807 * [backup-simplify]: Simplify (+ 0) into 0 36.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.808 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.809 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.809 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.809 * [backup-simplify]: Simplify (- 0) into 0 36.810 * [backup-simplify]: Simplify (+ 0 0) into 0 36.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 36.810 * [backup-simplify]: Simplify (+ 0) into 0 36.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.811 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.812 * [backup-simplify]: Simplify (+ 0 0) into 0 36.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 36.813 * [backup-simplify]: Simplify (+ 0) into 0 36.813 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.814 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.814 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.815 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.815 * [backup-simplify]: Simplify (- 0) into 0 36.815 * [backup-simplify]: Simplify (+ 0 0) into 0 36.816 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 36.816 * [backup-simplify]: Simplify (+ 0) into 0 36.817 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.817 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.818 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.818 * [backup-simplify]: Simplify (- 0) into 0 36.818 * [backup-simplify]: Simplify (+ 0 0) into 0 36.819 * [backup-simplify]: Simplify (+ 0) into 0 36.819 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 36.819 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 36.820 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.821 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 36.821 * [backup-simplify]: Simplify (+ 0 0) into 0 36.821 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 36.821 * [backup-simplify]: Simplify (+ 0) into 0 36.822 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.822 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.823 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.823 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.823 * [backup-simplify]: Simplify (- 0) into 0 36.824 * [backup-simplify]: Simplify (+ 0 0) into 0 36.824 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 36.824 * [backup-simplify]: Simplify (+ 0) into 0 36.825 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 36.825 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 36.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 36.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 36.826 * [backup-simplify]: Simplify (+ 0 0) into 0 36.826 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 36.826 * [backup-simplify]: Simplify (+ 0 0) into 0 36.826 * [backup-simplify]: Simplify (- 0) into 0 36.827 * [backup-simplify]: Simplify (+ 0 0) into 0 36.828 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 36.829 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 36.833 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 36.834 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.834 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.835 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.835 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.835 * [backup-simplify]: Simplify (- 0) into 0 36.836 * [backup-simplify]: Simplify (+ 0 0) into 0 36.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 36.837 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.837 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.838 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.838 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.838 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.839 * [backup-simplify]: Simplify (+ 0 0) into 0 36.839 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.839 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.840 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 3)))) into 0 36.840 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.841 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.842 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.842 * [backup-simplify]: Simplify (+ 0 0) into 0 36.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 36.844 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3))))) into 0 36.844 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.845 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.845 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.846 * [backup-simplify]: Simplify (- 0) into 0 36.846 * [backup-simplify]: Simplify (+ 0 0) into 0 36.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 36.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 36.848 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))))) into 0 36.848 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 36.849 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 36.849 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.850 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.850 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.851 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.851 * [backup-simplify]: Simplify (- 0) into 0 36.851 * [backup-simplify]: Simplify (+ 0 0) into 0 36.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.852 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.853 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.854 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.855 * [backup-simplify]: Simplify (- 0) into 0 36.855 * [backup-simplify]: Simplify (+ 0 0) into 0 36.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 36.857 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 36.858 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.858 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.859 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.859 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.860 * [backup-simplify]: Simplify (+ 0 0) into 0 36.861 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.862 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.863 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.865 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.866 * [backup-simplify]: Simplify (+ 0 0) into 0 36.866 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.867 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.867 * [backup-simplify]: Simplify (+ 0 0) into 0 36.868 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.869 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.869 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.870 * [backup-simplify]: Simplify (+ 0 0) into 0 36.871 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.871 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.872 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.872 * [backup-simplify]: Simplify (- 0) into 0 36.872 * [backup-simplify]: Simplify (+ 0 0) into 0 36.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.874 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.874 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.875 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.875 * [backup-simplify]: Simplify (+ 0 0) into 0 36.875 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 36.876 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.877 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.877 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.878 * [backup-simplify]: Simplify (- 0) into 0 36.878 * [backup-simplify]: Simplify (+ 0 0) into 0 36.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 36.879 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.879 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.880 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.880 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.880 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.881 * [backup-simplify]: Simplify (- 0) into 0 36.881 * [backup-simplify]: Simplify (+ 0 0) into 0 36.881 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.882 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.882 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.883 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.883 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.883 * [backup-simplify]: Simplify (+ 0 0) into 0 36.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.884 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.885 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.885 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.885 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.886 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.886 * [backup-simplify]: Simplify (- 0) into 0 36.886 * [backup-simplify]: Simplify (+ 0 0) into 0 36.886 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 36.887 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.888 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.893 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.894 * [backup-simplify]: Simplify (+ 0 0) into 0 36.894 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 36.895 * [backup-simplify]: Simplify (+ 0 0) into 0 36.895 * [backup-simplify]: Simplify (- 0) into 0 36.895 * [backup-simplify]: Simplify (+ 0 0) into 0 36.897 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 36.900 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 36.909 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 36.917 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 36.925 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 36.933 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 36.942 * [backup-simplify]: Simplify (+ (* 4 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi2)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 36.944 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.945 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.946 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.947 * [backup-simplify]: Simplify (- 0) into 0 36.948 * [backup-simplify]: Simplify (+ 0 0) into 0 36.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.949 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.950 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.951 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.951 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.953 * [backup-simplify]: Simplify (- 0) into 0 36.953 * [backup-simplify]: Simplify (+ 0 0) into 0 36.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 36.954 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 36.955 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.956 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.957 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.957 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.957 * [backup-simplify]: Simplify (+ 0 0) into 0 36.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.958 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.959 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.959 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.960 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.960 * [backup-simplify]: Simplify (+ 0 0) into 0 36.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 36.961 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 36.961 * [backup-simplify]: Simplify (+ 0 0) into 0 36.962 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.962 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.963 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.965 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.966 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.966 * [backup-simplify]: Simplify (- 0) into 0 36.966 * [backup-simplify]: Simplify (+ 0 0) into 0 36.967 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.968 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.969 * [backup-simplify]: Simplify (+ 0 0) into 0 36.969 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 36.970 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.970 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.970 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.971 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.971 * [backup-simplify]: Simplify (+ 0 0) into 0 36.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 36.972 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.973 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.974 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.974 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.974 * [backup-simplify]: Simplify (- 0) into 0 36.974 * [backup-simplify]: Simplify (+ 0 0) into 0 36.975 * [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 36.975 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.976 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.976 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.976 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.977 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.977 * [backup-simplify]: Simplify (+ 0 0) into 0 36.978 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.978 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 36.978 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 36.979 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 36.979 * [backup-simplify]: Simplify (- 0) into 0 36.980 * [backup-simplify]: Simplify (+ 0 0) into 0 36.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 36.980 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.981 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.981 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.982 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.982 * [backup-simplify]: Simplify (- 0) into 0 36.982 * [backup-simplify]: Simplify (+ 0 0) into 0 36.983 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 36.984 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 36.987 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 36.987 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 36.988 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 36.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 36.989 * [backup-simplify]: Simplify (+ 0 0) into 0 36.989 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 36.989 * [backup-simplify]: Simplify (+ 0 0) into 0 36.990 * [backup-simplify]: Simplify (- 0) into 0 36.990 * [backup-simplify]: Simplify (+ 0 0) into 0 36.994 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 36.998 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 37.011 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 37.016 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 37.017 * [backup-simplify]: Simplify (+ 0) into 0 37.018 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.018 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.019 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.020 * [backup-simplify]: Simplify (+ 0 0) into 0 37.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 37.020 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 37.021 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 4))) into 0 37.021 * [backup-simplify]: Simplify (+ 0) into 0 37.021 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.022 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.023 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.023 * [backup-simplify]: Simplify (- 0) into 0 37.024 * [backup-simplify]: Simplify (+ 0 0) into 0 37.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 5))) into 0 37.024 * [backup-simplify]: Simplify (+ 0) into 0 37.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.025 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.026 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.027 * [backup-simplify]: Simplify (+ 0 0) into 0 37.027 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 37.027 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 37.028 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 4))) into 0 37.028 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 5) 0) (* 0 (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) into 0 37.029 * [backup-simplify]: Simplify (+ 0) into 0 37.029 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.029 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.031 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.031 * [backup-simplify]: Simplify (- 0) into 0 37.031 * [backup-simplify]: Simplify (+ 0 0) into 0 37.032 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 5) (* (pow (sin (/ -0.5 phi1)) 5) (cos (/ -0.5 phi2)))))) into 0 37.033 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 37.033 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 37.034 * [backup-simplify]: Simplify (+ 0) into 0 37.034 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.034 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.035 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.036 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.036 * [backup-simplify]: Simplify (- 0) into 0 37.036 * [backup-simplify]: Simplify (+ 0 0) into 0 37.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 37.037 * [backup-simplify]: Simplify (+ 0) into 0 37.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.038 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.038 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.039 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.039 * [backup-simplify]: Simplify (- 0) into 0 37.040 * [backup-simplify]: Simplify (+ 0 0) into 0 37.040 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 37.040 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 37.041 * [backup-simplify]: Simplify (+ 0) into 0 37.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.042 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.043 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.043 * [backup-simplify]: Simplify (+ 0 0) into 0 37.044 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 37.044 * [backup-simplify]: Simplify (+ 0) into 0 37.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.051 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.052 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.053 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.053 * [backup-simplify]: Simplify (+ 0 0) into 0 37.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 37.054 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 37.055 * [backup-simplify]: Simplify (+ 0 0) into 0 37.055 * [backup-simplify]: Simplify (+ 0) into 0 37.056 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.057 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.058 * [backup-simplify]: Simplify (+ 0 0) into 0 37.058 * [backup-simplify]: Simplify (+ 0) into 0 37.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.059 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.060 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.060 * [backup-simplify]: Simplify (- 0) into 0 37.061 * [backup-simplify]: Simplify (+ 0 0) into 0 37.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 37.061 * [backup-simplify]: Simplify (+ 0) into 0 37.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.062 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.063 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.064 * [backup-simplify]: Simplify (+ 0 0) into 0 37.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 37.065 * [backup-simplify]: Simplify (+ 0) into 0 37.065 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.065 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.067 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.067 * [backup-simplify]: Simplify (- 0) into 0 37.067 * [backup-simplify]: Simplify (+ 0 0) into 0 37.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 37.068 * [backup-simplify]: Simplify (+ 0) into 0 37.069 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.069 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.070 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.070 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.071 * [backup-simplify]: Simplify (- 0) into 0 37.071 * [backup-simplify]: Simplify (+ 0 0) into 0 37.072 * [backup-simplify]: Simplify (+ 0) into 0 37.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.073 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.074 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.074 * [backup-simplify]: Simplify (+ 0 0) into 0 37.074 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 37.075 * [backup-simplify]: Simplify (+ 0) into 0 37.075 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.075 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.077 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.077 * [backup-simplify]: Simplify (- 0) into 0 37.077 * [backup-simplify]: Simplify (+ 0 0) into 0 37.078 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 37.078 * [backup-simplify]: Simplify (+ 0) into 0 37.079 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.079 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.080 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.080 * [backup-simplify]: Simplify (+ 0 0) into 0 37.081 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 37.081 * [backup-simplify]: Simplify (+ 0 0) into 0 37.082 * [backup-simplify]: Simplify (- 0) into 0 37.082 * [backup-simplify]: Simplify (+ 0 0) into 0 37.084 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 37.086 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 37.093 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 37.094 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.095 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.095 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.096 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.097 * [backup-simplify]: Simplify (+ 0 0) into 0 37.098 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 37.099 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 37.099 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 4)))) into 0 37.100 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.101 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.102 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.103 * [backup-simplify]: Simplify (- 0) into 0 37.104 * [backup-simplify]: Simplify (+ 0 0) into 0 37.105 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 5)))) into 0 37.106 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.106 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.107 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.107 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.108 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.108 * [backup-simplify]: Simplify (+ 0 0) into 0 37.109 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 37.110 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 37.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0 37.112 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 5) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5))))) into 0 37.112 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.115 * [backup-simplify]: Simplify (- 0) into 0 37.116 * [backup-simplify]: Simplify (+ 0 0) into 0 37.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 5) (* (pow (sin (/ -0.5 phi1)) 5) (cos (/ -0.5 phi2))))))) into 0 37.118 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 37.118 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 37.119 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.120 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.121 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.122 * [backup-simplify]: Simplify (- 0) into 0 37.123 * [backup-simplify]: Simplify (+ 0 0) into 0 37.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 37.124 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.125 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.126 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.127 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.127 * [backup-simplify]: Simplify (- 0) into 0 37.127 * [backup-simplify]: Simplify (+ 0 0) into 0 37.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 37.129 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 37.130 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.131 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.132 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.132 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.133 * [backup-simplify]: Simplify (+ 0 0) into 0 37.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 37.134 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.135 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.135 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.136 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.137 * [backup-simplify]: Simplify (+ 0 0) into 0 37.138 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 37.139 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 37.139 * [backup-simplify]: Simplify (+ 0 0) into 0 37.140 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.141 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.142 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.143 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.143 * [backup-simplify]: Simplify (+ 0 0) into 0 37.144 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.145 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.145 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.146 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.146 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.147 * [backup-simplify]: Simplify (- 0) into 0 37.147 * [backup-simplify]: Simplify (+ 0 0) into 0 37.148 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 37.149 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.150 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.151 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.151 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.152 * [backup-simplify]: Simplify (+ 0 0) into 0 37.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 37.153 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.154 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.154 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.155 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.156 * [backup-simplify]: Simplify (- 0) into 0 37.157 * [backup-simplify]: Simplify (+ 0 0) into 0 37.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 37.158 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.159 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.159 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.160 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.161 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.162 * [backup-simplify]: Simplify (- 0) into 0 37.163 * [backup-simplify]: Simplify (+ 0 0) into 0 37.164 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.165 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.166 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.167 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.167 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.168 * [backup-simplify]: Simplify (+ 0 0) into 0 37.168 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 37.169 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.170 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.170 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.171 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.171 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.172 * [backup-simplify]: Simplify (- 0) into 0 37.172 * [backup-simplify]: Simplify (+ 0 0) into 0 37.173 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 37.174 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.175 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.175 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.176 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.176 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.177 * [backup-simplify]: Simplify (+ 0 0) into 0 37.177 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 37.178 * [backup-simplify]: Simplify (+ 0 0) into 0 37.178 * [backup-simplify]: Simplify (- 0) into 0 37.179 * [backup-simplify]: Simplify (+ 0 0) into 0 37.181 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 37.184 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 37.193 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 37.201 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 37.208 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 37.215 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi1)) 5) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 5)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 37.231 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 5) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 5)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 37.233 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.234 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.235 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.235 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.236 * [backup-simplify]: Simplify (- 0) into 0 37.236 * [backup-simplify]: Simplify (+ 0 0) into 0 37.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 37.238 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.238 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.239 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.240 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.241 * [backup-simplify]: Simplify (- 0) into 0 37.241 * [backup-simplify]: Simplify (+ 0 0) into 0 37.242 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 37.242 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 37.243 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.244 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.244 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.245 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.246 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.246 * [backup-simplify]: Simplify (+ 0 0) into 0 37.247 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 37.248 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.249 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.249 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.250 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.251 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.251 * [backup-simplify]: Simplify (+ 0 0) into 0 37.252 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 37.253 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 37.253 * [backup-simplify]: Simplify (+ 0 0) into 0 37.254 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.255 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.255 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.256 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.257 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.257 * [backup-simplify]: Simplify (- 0) into 0 37.258 * [backup-simplify]: Simplify (+ 0 0) into 0 37.259 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.259 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.261 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.261 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.262 * [backup-simplify]: Simplify (+ 0 0) into 0 37.262 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 37.263 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.264 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.264 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.265 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.266 * [backup-simplify]: Simplify (+ 0 0) into 0 37.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 37.268 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.269 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.269 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.270 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.270 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.271 * [backup-simplify]: Simplify (- 0) into 0 37.271 * [backup-simplify]: Simplify (+ 0 0) into 0 37.272 * [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 37.272 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.273 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.273 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.274 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.274 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.274 * [backup-simplify]: Simplify (+ 0 0) into 0 37.275 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.276 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.276 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.277 * [backup-simplify]: Simplify (- 0) into 0 37.277 * [backup-simplify]: Simplify (+ 0 0) into 0 37.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 37.278 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.278 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.279 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.279 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.279 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.280 * [backup-simplify]: Simplify (- 0) into 0 37.280 * [backup-simplify]: Simplify (+ 0 0) into 0 37.280 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 37.281 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.281 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.282 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.282 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.282 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.283 * [backup-simplify]: Simplify (+ 0 0) into 0 37.283 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 37.283 * [backup-simplify]: Simplify (+ 0 0) into 0 37.284 * [backup-simplify]: Simplify (- 0) into 0 37.284 * [backup-simplify]: Simplify (+ 0 0) into 0 37.286 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 37.289 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 37.297 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 37.300 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 37.301 * [backup-simplify]: Simplify (+ 0) into 0 37.301 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.301 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.302 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.302 * [backup-simplify]: Simplify (- 0) into 0 37.303 * [backup-simplify]: Simplify (+ 0 0) into 0 37.303 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 37.303 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 37.303 * [backup-simplify]: Simplify (+ 0) into 0 37.304 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.304 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.305 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.306 * [backup-simplify]: Simplify (+ 0 0) into 0 37.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 37.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 37.306 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (pow (cos (/ -0.5 phi1)) 3))) into 0 37.307 * [backup-simplify]: Simplify (+ 0) into 0 37.307 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.308 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.309 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.309 * [backup-simplify]: Simplify (+ 0 0) into 0 37.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 37.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 37.310 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) into 0 37.311 * [backup-simplify]: Simplify (+ 0) into 0 37.312 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.312 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.313 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.313 * [backup-simplify]: Simplify (- 0) into 0 37.314 * [backup-simplify]: Simplify (+ 0 0) into 0 37.314 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 37.314 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 37.315 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3))))) into 0 37.316 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 37.317 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 37.317 * [backup-simplify]: Simplify (+ 0) into 0 37.318 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.318 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.319 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.320 * [backup-simplify]: Simplify (- 0) into 0 37.320 * [backup-simplify]: Simplify (+ 0 0) into 0 37.321 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 37.321 * [backup-simplify]: Simplify (+ 0) into 0 37.322 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.322 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.323 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.323 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.323 * [backup-simplify]: Simplify (- 0) into 0 37.324 * [backup-simplify]: Simplify (+ 0 0) into 0 37.324 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 37.324 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 37.325 * [backup-simplify]: Simplify (+ 0) into 0 37.326 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.326 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.327 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.328 * [backup-simplify]: Simplify (+ 0 0) into 0 37.328 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 37.328 * [backup-simplify]: Simplify (+ 0) into 0 37.329 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.329 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.330 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.330 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.331 * [backup-simplify]: Simplify (+ 0 0) into 0 37.331 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 37.331 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 37.332 * [backup-simplify]: Simplify (+ 0 0) into 0 37.332 * [backup-simplify]: Simplify (+ 0) into 0 37.333 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.333 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.334 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.334 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.335 * [backup-simplify]: Simplify (+ 0 0) into 0 37.335 * [backup-simplify]: Simplify (+ 0) into 0 37.336 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.336 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.337 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.337 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.338 * [backup-simplify]: Simplify (- 0) into 0 37.338 * [backup-simplify]: Simplify (+ 0 0) into 0 37.338 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 37.339 * [backup-simplify]: Simplify (+ 0) into 0 37.340 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.340 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.341 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.342 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.342 * [backup-simplify]: Simplify (+ 0 0) into 0 37.343 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 37.343 * [backup-simplify]: Simplify (+ 0) into 0 37.344 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.344 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.345 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.346 * [backup-simplify]: Simplify (- 0) into 0 37.346 * [backup-simplify]: Simplify (+ 0 0) into 0 37.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 37.347 * [backup-simplify]: Simplify (+ 0) into 0 37.347 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.347 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.349 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.349 * [backup-simplify]: Simplify (- 0) into 0 37.349 * [backup-simplify]: Simplify (+ 0 0) into 0 37.350 * [backup-simplify]: Simplify (+ 0) into 0 37.350 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.351 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.352 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.352 * [backup-simplify]: Simplify (+ 0 0) into 0 37.352 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 37.353 * [backup-simplify]: Simplify (+ 0) into 0 37.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.353 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.355 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.355 * [backup-simplify]: Simplify (- 0) into 0 37.356 * [backup-simplify]: Simplify (+ 0 0) into 0 37.356 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 37.356 * [backup-simplify]: Simplify (+ 0) into 0 37.357 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 37.357 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 37.357 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 37.358 * [backup-simplify]: Simplify (+ 0 0) into 0 37.358 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 37.358 * [backup-simplify]: Simplify (+ 0 0) into 0 37.358 * [backup-simplify]: Simplify (- 0) into 0 37.359 * [backup-simplify]: Simplify (+ 0 0) into 0 37.360 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 1)) into 0 37.361 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0 37.365 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 37.370 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.371 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.371 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.372 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.372 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.372 * [backup-simplify]: Simplify (- 0) into 0 37.373 * [backup-simplify]: Simplify (+ 0 0) into 0 37.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 37.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 37.374 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.374 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.375 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.375 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.375 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.376 * [backup-simplify]: Simplify (+ 0 0) into 0 37.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 37.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 37.377 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 3)))) into 0 37.377 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.378 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.378 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.379 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.379 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.379 * [backup-simplify]: Simplify (+ 0 0) into 0 37.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 37.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 37.381 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3))))) into 0 37.381 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.382 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.382 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.382 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.383 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.383 * [backup-simplify]: Simplify (- 0) into 0 37.383 * [backup-simplify]: Simplify (+ 0 0) into 0 37.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 37.384 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 37.385 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (pow (sin (/ -0.5 phi2)) 3)))))) into 0 37.385 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 37.386 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 37.387 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.387 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.387 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.388 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.388 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.388 * [backup-simplify]: Simplify (- 0) into 0 37.389 * [backup-simplify]: Simplify (+ 0 0) into 0 37.389 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 37.390 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.391 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.391 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.392 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.392 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.393 * [backup-simplify]: Simplify (- 0) into 0 37.393 * [backup-simplify]: Simplify (+ 0 0) into 0 37.393 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 37.394 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 37.394 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.395 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.395 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.395 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.396 * [backup-simplify]: Simplify (+ 0 0) into 0 37.396 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 37.397 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.397 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.398 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.398 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.399 * [backup-simplify]: Simplify (+ 0 0) into 0 37.399 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 37.400 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 37.400 * [backup-simplify]: Simplify (+ 0 0) into 0 37.400 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.401 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.401 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.401 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.402 * [backup-simplify]: Simplify (+ 0 0) into 0 37.403 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.403 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.403 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.404 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.404 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.404 * [backup-simplify]: Simplify (- 0) into 0 37.405 * [backup-simplify]: Simplify (+ 0 0) into 0 37.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 37.405 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.406 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.406 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.407 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.407 * [backup-simplify]: Simplify (+ 0 0) into 0 37.408 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 37.408 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.409 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.409 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.409 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.410 * [backup-simplify]: Simplify (- 0) into 0 37.410 * [backup-simplify]: Simplify (+ 0 0) into 0 37.410 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 37.411 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.411 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.412 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.412 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.412 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.413 * [backup-simplify]: Simplify (- 0) into 0 37.413 * [backup-simplify]: Simplify (+ 0 0) into 0 37.413 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.414 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 37.414 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 37.415 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.415 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 37.415 * [backup-simplify]: Simplify (+ 0 0) into 0 37.415 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 37.416 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.417 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.417 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.417 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.418 * [backup-simplify]: Simplify (- 0) into 0 37.418 * [backup-simplify]: Simplify (+ 0 0) into 0 37.418 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 37.419 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 37.419 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 37.420 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 37.420 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 37.420 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 37.421 * [backup-simplify]: Simplify (+ 0 0) into 0 37.421 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 37.421 * [backup-simplify]: Simplify (+ 0 0) into 0 37.422 * [backup-simplify]: Simplify (- 0) into 0 37.422 * [backup-simplify]: Simplify (+ 0 0) into 0 37.423 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 1))) into 0 37.425 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 37.435 * [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))) (+ (* (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))))))) R)) (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R))))) into 0 37.440 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 37.444 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 37.447 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) 37.452 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) (* R (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 37.452 * [backup-simplify]: Simplify (+ 0 0) into 0 37.453 * [backup-simplify]: Simplify (+ 0 0) into 0 37.456 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 0) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) 37.463 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) 37.478 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) 37.498 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) 37.512 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) into (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))) 37.531 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) 37.546 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) 37.569 * [backup-simplify]: Simplify (+ 0 (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))) into (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) 37.595 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))) into (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) 37.612 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) 37.632 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) 37.652 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))) into (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))))))) 37.692 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))) 37.739 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))))) into (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))))) 37.790 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))))) into (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))))) 37.823 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))))) into (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))))) 37.870 * [backup-simplify]: Simplify (- (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))))) into (- (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))))))) 37.948 * [backup-simplify]: Simplify (+ (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) (- (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin 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(sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))))) 37.950 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))))) in phi2 37.951 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))))))) in phi2 37.951 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) in phi2 37.951 * [taylor]: Taking taylor expansion of 1/2 in phi2 37.951 * [backup-simplify]: Simplify 1/2 into 1/2 37.951 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))) in phi2 37.951 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 37.951 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 37.951 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 37.951 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 37.952 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 37.952 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 37.952 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 37.952 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.952 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.952 * [backup-simplify]: Simplify -0.5 into -0.5 37.952 * [taylor]: Taking taylor expansion of phi2 in phi2 37.952 * [backup-simplify]: Simplify 0 into 0 37.952 * [backup-simplify]: Simplify 1 into 1 37.953 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.953 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 37.953 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 37.953 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 37.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.953 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.953 * [backup-simplify]: Simplify -0.5 into -0.5 37.953 * [taylor]: Taking taylor expansion of phi1 in phi2 37.953 * [backup-simplify]: Simplify phi1 into phi1 37.953 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.953 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.953 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.953 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 37.953 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 37.954 * [backup-simplify]: Simplify (- 0) into 0 37.954 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 37.954 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 37.954 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 37.954 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 37.954 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.954 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.954 * [backup-simplify]: Simplify -0.5 into -0.5 37.954 * [taylor]: Taking taylor expansion of phi2 in phi2 37.954 * [backup-simplify]: Simplify 0 into 0 37.954 * [backup-simplify]: Simplify 1 into 1 37.955 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 37.955 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 37.955 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 37.955 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.955 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.955 * [backup-simplify]: Simplify -0.5 into -0.5 37.955 * [taylor]: Taking taylor expansion of phi1 in phi2 37.955 * [backup-simplify]: Simplify phi1 into phi1 37.955 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.955 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.955 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.955 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 37.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 37.956 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 37.956 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 37.956 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 37.956 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 37.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.956 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.956 * [backup-simplify]: Simplify -0.5 into -0.5 37.956 * [taylor]: Taking taylor expansion of phi1 in phi2 37.956 * [backup-simplify]: Simplify phi1 into phi1 37.956 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.956 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.956 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.956 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 37.956 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 37.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.956 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.956 * [backup-simplify]: Simplify -0.5 into -0.5 37.956 * [taylor]: Taking taylor expansion of phi2 in phi2 37.956 * [backup-simplify]: Simplify 0 into 0 37.956 * [backup-simplify]: Simplify 1 into 1 37.957 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.957 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 37.957 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 37.957 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 37.957 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.957 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.957 * [backup-simplify]: Simplify -0.5 into -0.5 37.957 * [taylor]: Taking taylor expansion of phi2 in phi2 37.957 * [backup-simplify]: Simplify 0 into 0 37.957 * [backup-simplify]: Simplify 1 into 1 37.958 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 37.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 37.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.958 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.958 * [backup-simplify]: Simplify -0.5 into -0.5 37.958 * [taylor]: Taking taylor expansion of phi1 in phi2 37.958 * [backup-simplify]: Simplify phi1 into phi1 37.958 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.958 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.958 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 37.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 37.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.958 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.958 * [backup-simplify]: Simplify -0.5 into -0.5 37.958 * [taylor]: Taking taylor expansion of phi1 in phi2 37.958 * [backup-simplify]: Simplify phi1 into phi1 37.959 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.959 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 37.959 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 37.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.959 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.959 * [backup-simplify]: Simplify -0.5 into -0.5 37.959 * [taylor]: Taking taylor expansion of phi2 in phi2 37.959 * [backup-simplify]: Simplify 0 into 0 37.959 * [backup-simplify]: Simplify 1 into 1 37.959 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 37.959 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 37.960 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 37.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.960 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.960 * [backup-simplify]: Simplify -0.5 into -0.5 37.960 * [taylor]: Taking taylor expansion of phi2 in phi2 37.960 * [backup-simplify]: Simplify 0 into 0 37.960 * [backup-simplify]: Simplify 1 into 1 37.960 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 37.960 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 37.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.960 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.960 * [backup-simplify]: Simplify -0.5 into -0.5 37.960 * [taylor]: Taking taylor expansion of phi1 in phi2 37.960 * [backup-simplify]: Simplify phi1 into phi1 37.960 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 37.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 37.961 * [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)) 37.961 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 37.961 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 37.961 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 37.962 * [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))) 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))) 37.962 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 37.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 37.962 * [backup-simplify]: Simplify (- 0) into 0 37.962 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 37.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 37.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 37.963 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 37.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 37.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 37.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 37.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 37.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 37.963 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 37.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 37.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 37.964 * [backup-simplify]: Simplify (- 0) into 0 37.964 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 37.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 37.964 * [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)))) 37.964 * [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))))) 37.965 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 37.965 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 37.966 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 37.967 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 37.969 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) 37.969 * [backup-simplify]: Simplify (+ 0) into 0 37.970 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.970 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.971 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.971 * [backup-simplify]: Simplify (- 0) into 0 37.971 * [backup-simplify]: Simplify (+ 0 0) into 0 37.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 37.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 37.972 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 37.972 * [backup-simplify]: Simplify (+ 0) into 0 37.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.972 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.973 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.973 * [backup-simplify]: Simplify (+ 0 0) into 0 37.974 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 37.974 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 37.974 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 37.974 * [backup-simplify]: Simplify (+ 0 0) into 0 37.974 * [backup-simplify]: Simplify (+ 0) into 0 37.975 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.975 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.976 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.976 * [backup-simplify]: Simplify (+ 0 0) into 0 37.976 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 37.977 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 37.977 * [backup-simplify]: Simplify (+ 0) into 0 37.977 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.977 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.978 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.978 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.978 * [backup-simplify]: Simplify (- 0) into 0 37.979 * [backup-simplify]: Simplify (+ 0 0) into 0 37.979 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 37.979 * [backup-simplify]: Simplify (+ 0) into 0 37.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.980 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.980 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.981 * [backup-simplify]: Simplify (- 0) into 0 37.981 * [backup-simplify]: Simplify (+ 0 0) into 0 37.981 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 37.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 37.982 * [backup-simplify]: Simplify (+ 0) into 0 37.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 37.982 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 37.982 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 37.983 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 37.983 * [backup-simplify]: Simplify (+ 0 0) into 0 37.983 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 37.984 * [backup-simplify]: Simplify (+ 0 0) into 0 37.984 * [backup-simplify]: Simplify (- 0) into 0 37.984 * [backup-simplify]: Simplify (+ 0 0) into 0 37.986 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 37.987 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 37.987 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) in phi2 37.987 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 37.988 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 37.988 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.988 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.988 * [backup-simplify]: Simplify -0.5 into -0.5 37.988 * [taylor]: Taking taylor expansion of phi2 in phi2 37.988 * [backup-simplify]: Simplify 0 into 0 37.988 * [backup-simplify]: Simplify 1 into 1 37.988 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.988 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 37.988 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 37.988 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 37.988 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.988 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.988 * [backup-simplify]: Simplify -0.5 into -0.5 37.988 * [taylor]: Taking taylor expansion of phi1 in phi2 37.988 * [backup-simplify]: Simplify phi1 into phi1 37.988 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.988 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.988 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.988 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 37.988 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 37.988 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.989 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.989 * [backup-simplify]: Simplify -0.5 into -0.5 37.989 * [taylor]: Taking taylor expansion of phi2 in phi2 37.989 * [backup-simplify]: Simplify 0 into 0 37.989 * [backup-simplify]: Simplify 1 into 1 37.989 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.989 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 37.989 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 37.989 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.989 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.989 * [backup-simplify]: Simplify -0.5 into -0.5 37.989 * [taylor]: Taking taylor expansion of phi1 in phi2 37.989 * [backup-simplify]: Simplify phi1 into phi1 37.989 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.989 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.989 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.989 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) in phi2 37.989 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) in phi2 37.989 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) in phi2 37.989 * [taylor]: Taking taylor expansion of R in phi2 37.989 * [backup-simplify]: Simplify R into R 37.989 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2))) in phi2 37.989 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 37.989 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 37.989 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.989 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.989 * [backup-simplify]: Simplify -0.5 into -0.5 37.989 * [taylor]: Taking taylor expansion of phi2 in phi2 37.989 * [backup-simplify]: Simplify 0 into 0 37.989 * [backup-simplify]: Simplify 1 into 1 37.990 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.990 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 37.990 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)) in phi2 37.990 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 37.990 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 37.990 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.990 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.990 * [backup-simplify]: Simplify -0.5 into -0.5 37.990 * [taylor]: Taking taylor expansion of phi1 in phi2 37.990 * [backup-simplify]: Simplify phi1 into phi1 37.990 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.990 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.990 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.990 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 37.990 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 37.991 * [backup-simplify]: Simplify (- 0) into 0 37.991 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 37.991 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 37.991 * [taylor]: Taking taylor expansion of phi1 in phi2 37.991 * [backup-simplify]: Simplify phi1 into phi1 37.991 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)))) in phi2 37.991 * [taylor]: Taking taylor expansion of R in phi2 37.991 * [backup-simplify]: Simplify R into R 37.991 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))) in phi2 37.991 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 37.991 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 37.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.991 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.991 * [backup-simplify]: Simplify -0.5 into -0.5 37.991 * [taylor]: Taking taylor expansion of phi2 in phi2 37.991 * [backup-simplify]: Simplify 0 into 0 37.991 * [backup-simplify]: Simplify 1 into 1 37.991 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.991 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 37.991 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)) in phi2 37.991 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 37.991 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 37.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.991 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.991 * [backup-simplify]: Simplify -0.5 into -0.5 37.991 * [taylor]: Taking taylor expansion of phi1 in phi2 37.991 * [backup-simplify]: Simplify phi1 into phi1 37.991 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.991 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.992 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.992 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 37.992 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 37.992 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 37.992 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 37.992 * [taylor]: Taking taylor expansion of phi1 in phi2 37.992 * [backup-simplify]: Simplify phi1 into phi1 37.992 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))) in phi2 37.992 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) in phi2 37.992 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 37.992 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.992 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.992 * [backup-simplify]: Simplify -0.5 into -0.5 37.992 * [taylor]: Taking taylor expansion of phi1 in phi2 37.992 * [backup-simplify]: Simplify phi1 into phi1 37.992 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.992 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.992 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.992 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) in phi2 37.992 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 37.992 * [taylor]: Taking taylor expansion of phi1 in phi2 37.992 * [backup-simplify]: Simplify phi1 into phi1 37.992 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))) in phi2 37.992 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 37.992 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.992 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.992 * [backup-simplify]: Simplify -0.5 into -0.5 37.992 * [taylor]: Taking taylor expansion of phi2 in phi2 37.992 * [backup-simplify]: Simplify 0 into 0 37.992 * [backup-simplify]: Simplify 1 into 1 37.993 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.993 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 37.993 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) in phi2 37.993 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 37.993 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.993 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.993 * [backup-simplify]: Simplify -0.5 into -0.5 37.993 * [taylor]: Taking taylor expansion of phi2 in phi2 37.993 * [backup-simplify]: Simplify 0 into 0 37.993 * [backup-simplify]: Simplify 1 into 1 37.993 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.993 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 37.993 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) R) in phi2 37.993 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 37.993 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.993 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.993 * [backup-simplify]: Simplify -0.5 into -0.5 37.993 * [taylor]: Taking taylor expansion of phi1 in phi2 37.993 * [backup-simplify]: Simplify phi1 into phi1 37.993 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.993 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.994 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.994 * [taylor]: Taking taylor expansion of R in phi2 37.994 * [backup-simplify]: Simplify R into R 37.994 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) in phi2 37.994 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 37.994 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.994 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.994 * [backup-simplify]: Simplify -0.5 into -0.5 37.994 * [taylor]: Taking taylor expansion of phi1 in phi2 37.994 * [backup-simplify]: Simplify phi1 into phi1 37.994 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.994 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.994 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.994 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))) in phi2 37.994 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 37.994 * [taylor]: Taking taylor expansion of phi1 in phi2 37.994 * [backup-simplify]: Simplify phi1 into phi1 37.994 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))) in phi2 37.994 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 37.994 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.994 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.994 * [backup-simplify]: Simplify -0.5 into -0.5 37.994 * [taylor]: Taking taylor expansion of phi2 in phi2 37.994 * [backup-simplify]: Simplify 0 into 0 37.994 * [backup-simplify]: Simplify 1 into 1 37.994 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.994 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 37.994 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) in phi2 37.994 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 37.994 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 37.994 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.995 * [backup-simplify]: Simplify -0.5 into -0.5 37.995 * [taylor]: Taking taylor expansion of phi2 in phi2 37.995 * [backup-simplify]: Simplify 0 into 0 37.995 * [backup-simplify]: Simplify 1 into 1 37.995 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 37.995 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 37.995 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) R) in phi2 37.995 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 37.995 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 37.995 * [taylor]: Taking taylor expansion of -0.5 in phi2 37.995 * [backup-simplify]: Simplify -0.5 into -0.5 37.995 * [taylor]: Taking taylor expansion of phi1 in phi2 37.995 * [backup-simplify]: Simplify phi1 into phi1 37.995 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 37.995 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 37.995 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 37.995 * [taylor]: Taking taylor expansion of R in phi2 37.995 * [backup-simplify]: Simplify R into R 37.995 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 37.995 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 37.995 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 37.995 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 37.996 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 37.996 * [backup-simplify]: Simplify (- 0) into 0 37.996 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 37.996 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 37.996 * [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)))) 37.996 * [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))))) 37.996 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 37.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 37.997 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 37.997 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)) 37.997 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2))) into (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) 37.997 * [backup-simplify]: Simplify (* R (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) into (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) 37.997 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 37.998 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 37.998 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 37.998 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)) into (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)) 37.998 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))) into (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 37.998 * [backup-simplify]: Simplify (* R (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) 37.999 * [backup-simplify]: Simplify (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) into (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2))))) 37.999 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 37.999 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.000 * [backup-simplify]: Simplify (- 0) into 0 38.000 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.000 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.000 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.000 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.000 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.000 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) R) into (* (sin (/ -0.5 phi1)) R) 38.000 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) into (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 38.000 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 38.000 * [backup-simplify]: Simplify (* (pow phi1 2) (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2))))) 38.001 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) into (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) 38.001 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.001 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.001 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.001 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.001 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.001 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.001 * [backup-simplify]: Simplify (- 0) into 0 38.001 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.002 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) R) into (* (cos (/ -0.5 phi1)) R) 38.002 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) into (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 38.002 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 38.002 * [backup-simplify]: Simplify (* (pow phi1 2) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))) 38.002 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) into (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) 38.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2))))))) into (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))) 38.004 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) 38.006 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2))))) (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) into (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) 38.008 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) into (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) 38.008 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))))) in phi2 38.008 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) in phi2 38.008 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 38.008 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 38.008 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 38.008 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 38.009 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.009 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.009 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.009 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.009 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.009 * [backup-simplify]: Simplify -0.5 into -0.5 38.009 * [taylor]: Taking taylor expansion of phi2 in phi2 38.009 * [backup-simplify]: Simplify 0 into 0 38.009 * [backup-simplify]: Simplify 1 into 1 38.009 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.009 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.009 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.009 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.009 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.009 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.009 * [backup-simplify]: Simplify -0.5 into -0.5 38.009 * [taylor]: Taking taylor expansion of phi1 in phi2 38.009 * [backup-simplify]: Simplify phi1 into phi1 38.009 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.009 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.009 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.010 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.010 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.010 * [backup-simplify]: Simplify (- 0) into 0 38.010 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.010 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 38.010 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.010 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.010 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.010 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.010 * [backup-simplify]: Simplify -0.5 into -0.5 38.010 * [taylor]: Taking taylor expansion of phi2 in phi2 38.010 * [backup-simplify]: Simplify 0 into 0 38.010 * [backup-simplify]: Simplify 1 into 1 38.010 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.011 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.011 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.011 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.011 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.011 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.011 * [backup-simplify]: Simplify -0.5 into -0.5 38.011 * [taylor]: Taking taylor expansion of phi1 in phi2 38.011 * [backup-simplify]: Simplify phi1 into phi1 38.011 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.011 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.011 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.011 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.011 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.011 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.011 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 38.011 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 38.011 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.011 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.011 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.011 * [backup-simplify]: Simplify -0.5 into -0.5 38.011 * [taylor]: Taking taylor expansion of phi1 in phi2 38.011 * [backup-simplify]: Simplify phi1 into phi1 38.011 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.011 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.011 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.011 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 38.011 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.011 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.011 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.011 * [backup-simplify]: Simplify -0.5 into -0.5 38.011 * [taylor]: Taking taylor expansion of phi2 in phi2 38.011 * [backup-simplify]: Simplify 0 into 0 38.011 * [backup-simplify]: Simplify 1 into 1 38.012 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.012 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.012 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 38.012 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.012 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.012 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.012 * [backup-simplify]: Simplify -0.5 into -0.5 38.012 * [taylor]: Taking taylor expansion of phi2 in phi2 38.012 * [backup-simplify]: Simplify 0 into 0 38.012 * [backup-simplify]: Simplify 1 into 1 38.012 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.012 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.012 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.012 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.013 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.013 * [backup-simplify]: Simplify -0.5 into -0.5 38.013 * [taylor]: Taking taylor expansion of phi1 in phi2 38.013 * [backup-simplify]: Simplify phi1 into phi1 38.013 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.013 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.013 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.013 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 38.013 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.013 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.013 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.013 * [backup-simplify]: Simplify -0.5 into -0.5 38.013 * [taylor]: Taking taylor expansion of phi1 in phi2 38.013 * [backup-simplify]: Simplify phi1 into phi1 38.013 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.013 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.013 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.013 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 38.013 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.013 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.013 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.013 * [backup-simplify]: Simplify -0.5 into -0.5 38.013 * [taylor]: Taking taylor expansion of phi2 in phi2 38.013 * [backup-simplify]: Simplify 0 into 0 38.013 * [backup-simplify]: Simplify 1 into 1 38.013 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.013 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.014 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 38.014 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.014 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.014 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.014 * [backup-simplify]: Simplify -0.5 into -0.5 38.014 * [taylor]: Taking taylor expansion of phi2 in phi2 38.014 * [backup-simplify]: Simplify 0 into 0 38.014 * [backup-simplify]: Simplify 1 into 1 38.014 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.014 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.014 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.014 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.014 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.014 * [backup-simplify]: Simplify -0.5 into -0.5 38.014 * [taylor]: Taking taylor expansion of phi1 in phi2 38.014 * [backup-simplify]: Simplify phi1 into phi1 38.014 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.014 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.014 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.014 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.014 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.015 * [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)) 38.015 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.015 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.015 * [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)) 38.016 * [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))) 38.016 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.016 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.016 * [backup-simplify]: Simplify (- 0) into 0 38.016 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.016 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.016 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.016 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.017 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 38.017 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 38.017 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 38.017 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.017 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.017 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.018 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.018 * [backup-simplify]: Simplify (- 0) into 0 38.018 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 38.019 * [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)))) 38.019 * [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))))) 38.020 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 38.020 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 38.022 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 38.024 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 38.026 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) 38.026 * [backup-simplify]: Simplify (+ 0) into 0 38.027 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.027 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.027 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.028 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.028 * [backup-simplify]: Simplify (- 0) into 0 38.029 * [backup-simplify]: Simplify (+ 0 0) into 0 38.029 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.029 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.029 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 38.030 * [backup-simplify]: Simplify (+ 0) into 0 38.030 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.031 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.031 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.032 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.032 * [backup-simplify]: Simplify (+ 0 0) into 0 38.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.033 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 38.033 * [backup-simplify]: Simplify (+ 0 0) into 0 38.034 * [backup-simplify]: Simplify (+ 0) into 0 38.034 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.034 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.035 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.035 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.036 * [backup-simplify]: Simplify (+ 0 0) into 0 38.036 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.036 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 38.036 * [backup-simplify]: Simplify (+ 0) into 0 38.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.037 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.038 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.038 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.039 * [backup-simplify]: Simplify (- 0) into 0 38.039 * [backup-simplify]: Simplify (+ 0 0) into 0 38.039 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 38.040 * [backup-simplify]: Simplify (+ 0) into 0 38.040 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.040 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.042 * [backup-simplify]: Simplify (- 0) into 0 38.042 * [backup-simplify]: Simplify (+ 0 0) into 0 38.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.042 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 38.043 * [backup-simplify]: Simplify (+ 0) into 0 38.043 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.043 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.044 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.045 * [backup-simplify]: Simplify (+ 0 0) into 0 38.045 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 38.050 * [backup-simplify]: Simplify (+ 0 0) into 0 38.051 * [backup-simplify]: Simplify (- 0) into 0 38.051 * [backup-simplify]: Simplify (+ 0 0) into 0 38.053 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 38.055 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 38.055 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in phi2 38.055 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.055 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.055 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.055 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.055 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.055 * [backup-simplify]: Simplify -0.5 into -0.5 38.055 * [taylor]: Taking taylor expansion of phi2 in phi2 38.055 * [backup-simplify]: Simplify 0 into 0 38.055 * [backup-simplify]: Simplify 1 into 1 38.055 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.056 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.056 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.056 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.056 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.056 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.056 * [backup-simplify]: Simplify -0.5 into -0.5 38.056 * [taylor]: Taking taylor expansion of phi1 in phi2 38.056 * [backup-simplify]: Simplify phi1 into phi1 38.056 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.056 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.056 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.056 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.056 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.056 * [backup-simplify]: Simplify (- 0) into 0 38.056 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.056 * [taylor]: Taking taylor expansion of (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in phi2 38.056 * [taylor]: Taking taylor expansion of (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) in phi2 38.056 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) in phi2 38.056 * [taylor]: Taking taylor expansion of phi2 in phi2 38.057 * [backup-simplify]: Simplify 0 into 0 38.057 * [backup-simplify]: Simplify 1 into 1 38.057 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1))) in phi2 38.057 * [taylor]: Taking taylor expansion of R in phi2 38.057 * [backup-simplify]: Simplify R into R 38.057 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)) in phi2 38.057 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.057 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.057 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.057 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.057 * [backup-simplify]: Simplify -0.5 into -0.5 38.057 * [taylor]: Taking taylor expansion of phi2 in phi2 38.057 * [backup-simplify]: Simplify 0 into 0 38.057 * [backup-simplify]: Simplify 1 into 1 38.057 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.057 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.057 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) phi1) in phi2 38.057 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.057 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.057 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.057 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.057 * [backup-simplify]: Simplify -0.5 into -0.5 38.057 * [taylor]: Taking taylor expansion of phi1 in phi2 38.057 * [backup-simplify]: Simplify phi1 into phi1 38.057 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.057 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.057 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.057 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.058 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.058 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.058 * [taylor]: Taking taylor expansion of phi1 in phi2 38.058 * [backup-simplify]: Simplify phi1 into phi1 38.058 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) in phi2 38.058 * [taylor]: Taking taylor expansion of phi2 in phi2 38.058 * [backup-simplify]: Simplify 0 into 0 38.058 * [backup-simplify]: Simplify 1 into 1 38.058 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))) in phi2 38.058 * [taylor]: Taking taylor expansion of R in phi2 38.058 * [backup-simplify]: Simplify R into R 38.058 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)) in phi2 38.058 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.058 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.058 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.058 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.058 * [backup-simplify]: Simplify -0.5 into -0.5 38.058 * [taylor]: Taking taylor expansion of phi2 in phi2 38.058 * [backup-simplify]: Simplify 0 into 0 38.058 * [backup-simplify]: Simplify 1 into 1 38.058 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.058 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.058 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) phi1) in phi2 38.058 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.058 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.058 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.058 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.058 * [backup-simplify]: Simplify -0.5 into -0.5 38.058 * [taylor]: Taking taylor expansion of phi1 in phi2 38.058 * [backup-simplify]: Simplify phi1 into phi1 38.059 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.059 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.059 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.059 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.059 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.060 * [backup-simplify]: Simplify (- 0) into 0 38.060 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.060 * [taylor]: Taking taylor expansion of phi1 in phi2 38.060 * [backup-simplify]: Simplify phi1 into phi1 38.060 * [taylor]: Taking taylor expansion of (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2 38.060 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2 38.060 * [taylor]: Taking taylor expansion of phi2 in phi2 38.060 * [backup-simplify]: Simplify 0 into 0 38.060 * [backup-simplify]: Simplify 1 into 1 38.060 * [taylor]: Taking taylor expansion of (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2 38.060 * [taylor]: Taking taylor expansion of R in phi2 38.060 * [backup-simplify]: Simplify R into R 38.060 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2 38.060 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.060 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.060 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.060 * [backup-simplify]: Simplify -0.5 into -0.5 38.060 * [taylor]: Taking taylor expansion of phi2 in phi2 38.060 * [backup-simplify]: Simplify 0 into 0 38.060 * [backup-simplify]: Simplify 1 into 1 38.060 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.060 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.060 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 38.060 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.060 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.060 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.060 * [backup-simplify]: Simplify -0.5 into -0.5 38.060 * [taylor]: Taking taylor expansion of phi2 in phi2 38.060 * [backup-simplify]: Simplify 0 into 0 38.060 * [backup-simplify]: Simplify 1 into 1 38.061 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.061 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.061 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 38.061 * [taylor]: Taking taylor expansion of phi1 in phi2 38.061 * [backup-simplify]: Simplify phi1 into phi1 38.061 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 38.061 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.061 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.061 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.061 * [backup-simplify]: Simplify -0.5 into -0.5 38.061 * [taylor]: Taking taylor expansion of phi1 in phi2 38.061 * [backup-simplify]: Simplify phi1 into phi1 38.061 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.061 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.061 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.061 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.061 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.061 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.061 * [backup-simplify]: Simplify -0.5 into -0.5 38.061 * [taylor]: Taking taylor expansion of phi1 in phi2 38.061 * [backup-simplify]: Simplify phi1 into phi1 38.061 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.061 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.061 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.061 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2 38.061 * [taylor]: Taking taylor expansion of phi2 in phi2 38.061 * [backup-simplify]: Simplify 0 into 0 38.062 * [backup-simplify]: Simplify 1 into 1 38.062 * [taylor]: Taking taylor expansion of (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2 38.062 * [taylor]: Taking taylor expansion of R in phi2 38.062 * [backup-simplify]: Simplify R into R 38.062 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2 38.062 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.062 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.062 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.062 * [backup-simplify]: Simplify -0.5 into -0.5 38.062 * [taylor]: Taking taylor expansion of phi2 in phi2 38.062 * [backup-simplify]: Simplify 0 into 0 38.062 * [backup-simplify]: Simplify 1 into 1 38.062 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.062 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.062 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 38.062 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.062 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.062 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.062 * [backup-simplify]: Simplify -0.5 into -0.5 38.062 * [taylor]: Taking taylor expansion of phi2 in phi2 38.062 * [backup-simplify]: Simplify 0 into 0 38.062 * [backup-simplify]: Simplify 1 into 1 38.063 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.063 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.063 * [taylor]: Taking taylor expansion of (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 38.063 * [taylor]: Taking taylor expansion of phi1 in phi2 38.063 * [backup-simplify]: Simplify phi1 into phi1 38.063 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 38.063 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.063 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.063 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.063 * [backup-simplify]: Simplify -0.5 into -0.5 38.063 * [taylor]: Taking taylor expansion of phi1 in phi2 38.063 * [backup-simplify]: Simplify phi1 into phi1 38.063 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.063 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.063 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.063 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.063 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.063 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.063 * [backup-simplify]: Simplify -0.5 into -0.5 38.063 * [taylor]: Taking taylor expansion of phi1 in phi2 38.063 * [backup-simplify]: Simplify phi1 into phi1 38.063 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.063 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.063 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.063 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.063 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.064 * [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)) 38.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.064 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) phi1) into (* (pow (sin (/ -0.5 phi1)) 2) phi1) 38.064 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)) into (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 38.064 * [backup-simplify]: Simplify (* R (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) 38.065 * [backup-simplify]: Simplify (* 0 (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) into 0 38.065 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.065 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.065 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) phi1) into (* (pow (cos (/ -0.5 phi1)) 2) phi1) 38.065 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)) into (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) 38.065 * [backup-simplify]: Simplify (* R (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) into (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) 38.066 * [backup-simplify]: Simplify (* 0 (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) into 0 38.066 * [backup-simplify]: Simplify (+ 0 0) into 0 38.066 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.066 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.067 * [backup-simplify]: Simplify (- 0) into 0 38.067 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.067 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.067 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.067 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.067 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 38.067 * [backup-simplify]: Simplify (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) phi1)) 38.067 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) phi1))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))) 38.067 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1)))) into (* phi1 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 38.068 * [backup-simplify]: Simplify (* R (* phi1 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R))))) 38.068 * [backup-simplify]: Simplify (* 0 (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))))) into 0 38.068 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.068 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.068 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.068 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.068 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.068 * [backup-simplify]: Simplify (- 0) into 0 38.069 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.069 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 38.069 * [backup-simplify]: Simplify (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) phi1)) 38.069 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) phi1))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))) 38.069 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1)))) into (* phi1 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 38.069 * [backup-simplify]: Simplify (* R (* phi1 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))) 38.070 * [backup-simplify]: Simplify (* 0 (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))))) into 0 38.070 * [backup-simplify]: Simplify (+ 0 0) into 0 38.070 * [backup-simplify]: Simplify (- 0) into 0 38.070 * [backup-simplify]: Simplify (+ 0 0) into 0 38.071 * [backup-simplify]: Simplify (+ 0) into 0 38.071 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.071 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.072 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.072 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.072 * [backup-simplify]: Simplify (+ 0 0) into 0 38.072 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.072 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 phi1)) into 0 38.073 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.073 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 2) phi1))) into 0 38.073 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0 38.074 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))))) into (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) 38.074 * [backup-simplify]: Simplify (+ 0) into 0 38.074 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.074 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.075 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.075 * [backup-simplify]: Simplify (- 0) into 0 38.076 * [backup-simplify]: Simplify (+ 0 0) into 0 38.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.076 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 phi1)) into 0 38.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.076 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) phi1))) into 0 38.077 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))))) into 0 38.077 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))))) into (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1))) 38.078 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) into (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) 38.078 * [backup-simplify]: Simplify (+ 0) into 0 38.078 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.079 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.079 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.080 * [backup-simplify]: Simplify (+ 0 0) into 0 38.080 * [backup-simplify]: Simplify (+ 0) into 0 38.080 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.081 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.081 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.082 * [backup-simplify]: Simplify (- 0) into 0 38.082 * [backup-simplify]: Simplify (+ 0 0) into 0 38.082 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.082 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 38.082 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) phi1)))) into 0 38.082 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))))) into 0 38.083 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into 0 38.083 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R))))))) into (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))) 38.084 * [backup-simplify]: Simplify (+ 0) into 0 38.084 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.084 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.085 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.085 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.085 * [backup-simplify]: Simplify (- 0) into 0 38.085 * [backup-simplify]: Simplify (+ 0 0) into 0 38.086 * [backup-simplify]: Simplify (+ 0) into 0 38.086 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.086 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.086 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.087 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.087 * [backup-simplify]: Simplify (+ 0 0) into 0 38.087 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.087 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 38.087 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) phi1)))) into 0 38.088 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) into 0 38.088 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into 0 38.089 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))))) into (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) 38.089 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1)))))) 38.090 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))))))) 38.091 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (- (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1)))))))) into (- (+ (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))) 38.093 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) 38.093 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))))) in phi2 38.093 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))))) in phi2 38.093 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 38.093 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 38.093 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 38.093 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 38.094 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.094 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.094 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.094 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.094 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.094 * [backup-simplify]: Simplify -0.5 into -0.5 38.094 * [taylor]: Taking taylor expansion of phi2 in phi2 38.094 * [backup-simplify]: Simplify 0 into 0 38.094 * [backup-simplify]: Simplify 1 into 1 38.094 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.094 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.094 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.094 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.094 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.094 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.094 * [backup-simplify]: Simplify -0.5 into -0.5 38.094 * [taylor]: Taking taylor expansion of phi1 in phi2 38.094 * [backup-simplify]: Simplify phi1 into phi1 38.094 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.094 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.095 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.095 * [backup-simplify]: Simplify (- 0) into 0 38.095 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.095 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 38.095 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.095 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.095 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.095 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.095 * [backup-simplify]: Simplify -0.5 into -0.5 38.095 * [taylor]: Taking taylor expansion of phi2 in phi2 38.095 * [backup-simplify]: Simplify 0 into 0 38.095 * [backup-simplify]: Simplify 1 into 1 38.096 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.096 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.096 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.096 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.096 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.096 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.096 * [backup-simplify]: Simplify -0.5 into -0.5 38.096 * [taylor]: Taking taylor expansion of phi1 in phi2 38.096 * [backup-simplify]: Simplify phi1 into phi1 38.096 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.096 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.096 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.096 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.096 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.096 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.096 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 38.096 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 38.096 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.096 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.096 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.096 * [backup-simplify]: Simplify -0.5 into -0.5 38.096 * [taylor]: Taking taylor expansion of phi1 in phi2 38.096 * [backup-simplify]: Simplify phi1 into phi1 38.096 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.096 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.096 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.096 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 38.096 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.096 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.096 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.096 * [backup-simplify]: Simplify -0.5 into -0.5 38.096 * [taylor]: Taking taylor expansion of phi2 in phi2 38.096 * [backup-simplify]: Simplify 0 into 0 38.097 * [backup-simplify]: Simplify 1 into 1 38.097 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.097 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.097 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 38.097 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.097 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.097 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.097 * [backup-simplify]: Simplify -0.5 into -0.5 38.097 * [taylor]: Taking taylor expansion of phi2 in phi2 38.097 * [backup-simplify]: Simplify 0 into 0 38.097 * [backup-simplify]: Simplify 1 into 1 38.097 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.097 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.097 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.097 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.097 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.098 * [backup-simplify]: Simplify -0.5 into -0.5 38.098 * [taylor]: Taking taylor expansion of phi1 in phi2 38.098 * [backup-simplify]: Simplify phi1 into phi1 38.098 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.098 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.098 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.098 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 38.098 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.098 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.098 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.098 * [backup-simplify]: Simplify -0.5 into -0.5 38.098 * [taylor]: Taking taylor expansion of phi1 in phi2 38.098 * [backup-simplify]: Simplify phi1 into phi1 38.098 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.098 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.098 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.098 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 38.098 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.098 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.098 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.098 * [backup-simplify]: Simplify -0.5 into -0.5 38.098 * [taylor]: Taking taylor expansion of phi2 in phi2 38.098 * [backup-simplify]: Simplify 0 into 0 38.098 * [backup-simplify]: Simplify 1 into 1 38.098 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.098 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.099 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 38.099 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.099 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.099 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.099 * [backup-simplify]: Simplify -0.5 into -0.5 38.099 * [taylor]: Taking taylor expansion of phi2 in phi2 38.099 * [backup-simplify]: Simplify 0 into 0 38.099 * [backup-simplify]: Simplify 1 into 1 38.099 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.099 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.099 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.099 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.099 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.099 * [backup-simplify]: Simplify -0.5 into -0.5 38.099 * [taylor]: Taking taylor expansion of phi1 in phi2 38.099 * [backup-simplify]: Simplify phi1 into phi1 38.099 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.099 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.099 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.099 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.099 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.100 * [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)) 38.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.100 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.100 * [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)) 38.101 * [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))) 38.101 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.102 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.102 * [backup-simplify]: Simplify (- 0) into 0 38.102 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.102 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.102 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.103 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.103 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 38.103 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 38.103 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 38.104 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.104 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.104 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.104 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.104 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.105 * [backup-simplify]: Simplify (- 0) into 0 38.105 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.105 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 38.105 * [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)))) 38.106 * [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))))) 38.106 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 38.107 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 38.110 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 38.112 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 38.114 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) 38.115 * [backup-simplify]: Simplify (+ 0) into 0 38.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.116 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.118 * [backup-simplify]: Simplify (- 0) into 0 38.118 * [backup-simplify]: Simplify (+ 0 0) into 0 38.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.119 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 38.120 * [backup-simplify]: Simplify (+ 0) into 0 38.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.121 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.122 * [backup-simplify]: Simplify (+ 0 0) into 0 38.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.123 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 38.124 * [backup-simplify]: Simplify (+ 0 0) into 0 38.124 * [backup-simplify]: Simplify (+ 0) into 0 38.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.125 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.127 * [backup-simplify]: Simplify (+ 0 0) into 0 38.127 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 38.128 * [backup-simplify]: Simplify (+ 0) into 0 38.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.129 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.130 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.131 * [backup-simplify]: Simplify (- 0) into 0 38.131 * [backup-simplify]: Simplify (+ 0 0) into 0 38.132 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 38.132 * [backup-simplify]: Simplify (+ 0) into 0 38.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.133 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.135 * [backup-simplify]: Simplify (- 0) into 0 38.136 * [backup-simplify]: Simplify (+ 0 0) into 0 38.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.136 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 38.137 * [backup-simplify]: Simplify (+ 0) into 0 38.137 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.137 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.138 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.138 * [backup-simplify]: Simplify (+ 0 0) into 0 38.139 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 38.139 * [backup-simplify]: Simplify (+ 0 0) into 0 38.139 * [backup-simplify]: Simplify (- 0) into 0 38.139 * [backup-simplify]: Simplify (+ 0 0) into 0 38.142 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 38.143 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 38.143 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) in phi2 38.144 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 38.144 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.144 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.144 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.144 * [backup-simplify]: Simplify -0.5 into -0.5 38.144 * [taylor]: Taking taylor expansion of phi2 in phi2 38.144 * [backup-simplify]: Simplify 0 into 0 38.144 * [backup-simplify]: Simplify 1 into 1 38.144 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.144 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.144 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 38.144 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.144 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.144 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.144 * [backup-simplify]: Simplify -0.5 into -0.5 38.144 * [taylor]: Taking taylor expansion of phi1 in phi2 38.144 * [backup-simplify]: Simplify phi1 into phi1 38.144 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.145 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.145 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.145 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 38.145 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.145 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.145 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.145 * [backup-simplify]: Simplify -0.5 into -0.5 38.145 * [taylor]: Taking taylor expansion of phi2 in phi2 38.145 * [backup-simplify]: Simplify 0 into 0 38.145 * [backup-simplify]: Simplify 1 into 1 38.145 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.145 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.145 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.145 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.145 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.145 * [backup-simplify]: Simplify -0.5 into -0.5 38.145 * [taylor]: Taking taylor expansion of phi1 in phi2 38.145 * [backup-simplify]: Simplify phi1 into phi1 38.145 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.145 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.145 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.145 * [taylor]: Taking taylor expansion of (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) in phi2 38.146 * [taylor]: Taking taylor expansion of (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) in phi2 38.146 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) in phi2 38.146 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.146 * [taylor]: Taking taylor expansion of phi2 in phi2 38.146 * [backup-simplify]: Simplify 0 into 0 38.146 * [backup-simplify]: Simplify 1 into 1 38.146 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)) in phi2 38.146 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.146 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.146 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.146 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.146 * [backup-simplify]: Simplify -0.5 into -0.5 38.146 * [taylor]: Taking taylor expansion of phi1 in phi2 38.146 * [backup-simplify]: Simplify phi1 into phi1 38.146 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.146 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.146 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.146 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.146 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.146 * [backup-simplify]: Simplify (- 0) into 0 38.146 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.146 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) R) in phi2 38.146 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.146 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.146 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.146 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.146 * [backup-simplify]: Simplify -0.5 into -0.5 38.147 * [taylor]: Taking taylor expansion of phi2 in phi2 38.147 * [backup-simplify]: Simplify 0 into 0 38.147 * [backup-simplify]: Simplify 1 into 1 38.147 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.147 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.147 * [taylor]: Taking taylor expansion of R in phi2 38.147 * [backup-simplify]: Simplify R into R 38.147 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) in phi2 38.147 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.147 * [taylor]: Taking taylor expansion of phi2 in phi2 38.147 * [backup-simplify]: Simplify 0 into 0 38.147 * [backup-simplify]: Simplify 1 into 1 38.147 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) in phi2 38.147 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.147 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.147 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.147 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.147 * [backup-simplify]: Simplify -0.5 into -0.5 38.147 * [taylor]: Taking taylor expansion of phi1 in phi2 38.147 * [backup-simplify]: Simplify phi1 into phi1 38.147 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.147 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.147 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.147 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.147 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.148 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.148 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) R) in phi2 38.148 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.148 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.148 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.148 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.148 * [backup-simplify]: Simplify -0.5 into -0.5 38.148 * [taylor]: Taking taylor expansion of phi2 in phi2 38.148 * [backup-simplify]: Simplify 0 into 0 38.148 * [backup-simplify]: Simplify 1 into 1 38.148 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.148 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.148 * [taylor]: Taking taylor expansion of R in phi2 38.148 * [backup-simplify]: Simplify R into R 38.148 * [taylor]: Taking taylor expansion of (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))) in phi2 38.148 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) in phi2 38.148 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.148 * [taylor]: Taking taylor expansion of phi2 in phi2 38.148 * [backup-simplify]: Simplify 0 into 0 38.148 * [backup-simplify]: Simplify 1 into 1 38.148 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))) in phi2 38.148 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.148 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.148 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.148 * [backup-simplify]: Simplify -0.5 into -0.5 38.148 * [taylor]: Taking taylor expansion of phi2 in phi2 38.148 * [backup-simplify]: Simplify 0 into 0 38.148 * [backup-simplify]: Simplify 1 into 1 38.149 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.149 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.149 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))) in phi2 38.149 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.149 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.149 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.149 * [backup-simplify]: Simplify -0.5 into -0.5 38.149 * [taylor]: Taking taylor expansion of phi1 in phi2 38.149 * [backup-simplify]: Simplify phi1 into phi1 38.149 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.149 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.149 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.149 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) in phi2 38.149 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.149 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.149 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.149 * [backup-simplify]: Simplify -0.5 into -0.5 38.149 * [taylor]: Taking taylor expansion of phi2 in phi2 38.149 * [backup-simplify]: Simplify 0 into 0 38.149 * [backup-simplify]: Simplify 1 into 1 38.149 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.150 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) R) in phi2 38.150 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.150 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.150 * [backup-simplify]: Simplify -0.5 into -0.5 38.150 * [taylor]: Taking taylor expansion of phi1 in phi2 38.150 * [backup-simplify]: Simplify phi1 into phi1 38.150 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.150 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.150 * [taylor]: Taking taylor expansion of R in phi2 38.150 * [backup-simplify]: Simplify R into R 38.150 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) in phi2 38.150 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.150 * [taylor]: Taking taylor expansion of phi2 in phi2 38.150 * [backup-simplify]: Simplify 0 into 0 38.150 * [backup-simplify]: Simplify 1 into 1 38.150 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) in phi2 38.150 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.150 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.150 * [backup-simplify]: Simplify -0.5 into -0.5 38.150 * [taylor]: Taking taylor expansion of phi2 in phi2 38.150 * [backup-simplify]: Simplify 0 into 0 38.150 * [backup-simplify]: Simplify 1 into 1 38.150 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.150 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.150 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))) in phi2 38.150 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.151 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.151 * [backup-simplify]: Simplify -0.5 into -0.5 38.151 * [taylor]: Taking taylor expansion of phi1 in phi2 38.151 * [backup-simplify]: Simplify phi1 into phi1 38.151 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.151 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) in phi2 38.151 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.151 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.151 * [backup-simplify]: Simplify -0.5 into -0.5 38.151 * [taylor]: Taking taylor expansion of phi2 in phi2 38.151 * [backup-simplify]: Simplify 0 into 0 38.151 * [backup-simplify]: Simplify 1 into 1 38.151 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.151 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) R) in phi2 38.151 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.151 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.151 * [backup-simplify]: Simplify -0.5 into -0.5 38.151 * [taylor]: Taking taylor expansion of phi1 in phi2 38.151 * [backup-simplify]: Simplify phi1 into phi1 38.151 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.152 * [taylor]: Taking taylor expansion of R in phi2 38.152 * [backup-simplify]: Simplify R into R 38.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.152 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.152 * [backup-simplify]: Simplify (- 0) into 0 38.152 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.152 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 38.152 * [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)))) 38.153 * [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))))) 38.153 * [backup-simplify]: Simplify (* 1 1) into 1 38.153 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.153 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.153 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) R) into (* (pow (cos (/ -0.5 phi2)) 2) R) 38.153 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)) into (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) 38.154 * [backup-simplify]: Simplify (* 1 (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) into (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) 38.154 * [backup-simplify]: Simplify (* 1 1) into 1 38.154 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.154 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.154 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) R) into (* (pow (sin (/ -0.5 phi2)) 2) R) 38.155 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) into (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) 38.155 * [backup-simplify]: Simplify (* 1 (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) into (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 38.155 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) 38.156 * [backup-simplify]: Simplify (* 1 1) into 1 38.156 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.156 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.156 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.156 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.156 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.156 * [backup-simplify]: Simplify (- 0) into 0 38.156 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.156 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) R) into (* (cos (/ -0.5 phi1)) R) 38.156 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) into (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 38.157 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 38.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 38.157 * [backup-simplify]: Simplify (* 1 (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) 38.157 * [backup-simplify]: Simplify (* 1 1) into 1 38.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.157 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.158 * [backup-simplify]: Simplify (- 0) into 0 38.158 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.158 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.158 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.158 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.158 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) R) into (* (sin (/ -0.5 phi1)) R) 38.158 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) into (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 38.158 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 38.159 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 38.159 * [backup-simplify]: Simplify (* 1 (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 38.159 * [backup-simplify]: Simplify (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (+ (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 38.160 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))) 38.161 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (- (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) into (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))) 38.163 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 38.163 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))))) in phi2 38.163 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) in phi2 38.163 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 38.163 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 38.163 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 38.163 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 38.163 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.163 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.163 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.163 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.163 * [backup-simplify]: Simplify -0.5 into -0.5 38.163 * [taylor]: Taking taylor expansion of phi2 in phi2 38.163 * [backup-simplify]: Simplify 0 into 0 38.163 * [backup-simplify]: Simplify 1 into 1 38.164 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.164 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.164 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.164 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.164 * [backup-simplify]: Simplify -0.5 into -0.5 38.164 * [taylor]: Taking taylor expansion of phi1 in phi2 38.164 * [backup-simplify]: Simplify phi1 into phi1 38.164 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.164 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.164 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.164 * [backup-simplify]: Simplify (- 0) into 0 38.164 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.164 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 38.164 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.164 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.165 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.165 * [backup-simplify]: Simplify -0.5 into -0.5 38.165 * [taylor]: Taking taylor expansion of phi2 in phi2 38.165 * [backup-simplify]: Simplify 0 into 0 38.165 * [backup-simplify]: Simplify 1 into 1 38.165 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.165 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.165 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.165 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.165 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.165 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.165 * [backup-simplify]: Simplify -0.5 into -0.5 38.165 * [taylor]: Taking taylor expansion of phi1 in phi2 38.165 * [backup-simplify]: Simplify phi1 into phi1 38.165 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.165 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.165 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.165 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.165 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.165 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.165 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 38.165 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 38.166 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.166 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.166 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.166 * [backup-simplify]: Simplify -0.5 into -0.5 38.166 * [taylor]: Taking taylor expansion of phi1 in phi2 38.166 * [backup-simplify]: Simplify phi1 into phi1 38.166 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.166 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.166 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.166 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 38.166 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.166 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.166 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.166 * [backup-simplify]: Simplify -0.5 into -0.5 38.166 * [taylor]: Taking taylor expansion of phi2 in phi2 38.166 * [backup-simplify]: Simplify 0 into 0 38.166 * [backup-simplify]: Simplify 1 into 1 38.166 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.166 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.166 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 38.166 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.166 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.166 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.166 * [backup-simplify]: Simplify -0.5 into -0.5 38.166 * [taylor]: Taking taylor expansion of phi2 in phi2 38.166 * [backup-simplify]: Simplify 0 into 0 38.166 * [backup-simplify]: Simplify 1 into 1 38.167 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.167 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.167 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.167 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.167 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.167 * [backup-simplify]: Simplify -0.5 into -0.5 38.167 * [taylor]: Taking taylor expansion of phi1 in phi2 38.167 * [backup-simplify]: Simplify phi1 into phi1 38.167 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.167 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.167 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.167 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 38.167 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.167 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.167 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.167 * [backup-simplify]: Simplify -0.5 into -0.5 38.167 * [taylor]: Taking taylor expansion of phi1 in phi2 38.167 * [backup-simplify]: Simplify phi1 into phi1 38.167 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.167 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.167 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.167 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 38.167 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.167 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.167 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.167 * [backup-simplify]: Simplify -0.5 into -0.5 38.167 * [taylor]: Taking taylor expansion of phi2 in phi2 38.167 * [backup-simplify]: Simplify 0 into 0 38.167 * [backup-simplify]: Simplify 1 into 1 38.168 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.168 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.168 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 38.168 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.168 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.168 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.168 * [backup-simplify]: Simplify -0.5 into -0.5 38.168 * [taylor]: Taking taylor expansion of phi2 in phi2 38.168 * [backup-simplify]: Simplify 0 into 0 38.168 * [backup-simplify]: Simplify 1 into 1 38.168 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.168 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.168 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.168 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.168 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.168 * [backup-simplify]: Simplify -0.5 into -0.5 38.168 * [taylor]: Taking taylor expansion of phi1 in phi2 38.168 * [backup-simplify]: Simplify phi1 into phi1 38.168 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.169 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.169 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.169 * [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)) 38.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.169 * [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)) 38.170 * [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))) 38.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.170 * [backup-simplify]: Simplify (- 0) into 0 38.170 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.171 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 38.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 38.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 38.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.171 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.172 * [backup-simplify]: Simplify (- 0) into 0 38.172 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.172 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 38.172 * [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)))) 38.172 * [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))))) 38.173 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 38.173 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 38.174 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 38.175 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 38.177 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) 38.177 * [backup-simplify]: Simplify (+ 0) into 0 38.178 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.178 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.187 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.188 * [backup-simplify]: Simplify (- 0) into 0 38.188 * [backup-simplify]: Simplify (+ 0 0) into 0 38.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.189 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 38.190 * [backup-simplify]: Simplify (+ 0) into 0 38.190 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.192 * [backup-simplify]: Simplify (+ 0 0) into 0 38.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.193 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 38.193 * [backup-simplify]: Simplify (+ 0 0) into 0 38.194 * [backup-simplify]: Simplify (+ 0) into 0 38.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.196 * [backup-simplify]: Simplify (+ 0 0) into 0 38.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 38.197 * [backup-simplify]: Simplify (+ 0) into 0 38.197 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.197 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.197 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.198 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.198 * [backup-simplify]: Simplify (- 0) into 0 38.198 * [backup-simplify]: Simplify (+ 0 0) into 0 38.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 38.199 * [backup-simplify]: Simplify (+ 0) into 0 38.199 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.199 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.200 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.200 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.200 * [backup-simplify]: Simplify (- 0) into 0 38.200 * [backup-simplify]: Simplify (+ 0 0) into 0 38.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 38.201 * [backup-simplify]: Simplify (+ 0) into 0 38.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.202 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.202 * [backup-simplify]: Simplify (+ 0 0) into 0 38.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 38.203 * [backup-simplify]: Simplify (+ 0 0) into 0 38.203 * [backup-simplify]: Simplify (- 0) into 0 38.203 * [backup-simplify]: Simplify (+ 0 0) into 0 38.206 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 38.207 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 38.207 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in phi2 38.207 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) in phi2 38.207 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.207 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.207 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.207 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.207 * [backup-simplify]: Simplify -0.5 into -0.5 38.207 * [taylor]: Taking taylor expansion of phi1 in phi2 38.207 * [backup-simplify]: Simplify phi1 into phi1 38.207 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.207 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.207 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.207 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.207 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.207 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.207 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.207 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.207 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.207 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.207 * [backup-simplify]: Simplify -0.5 into -0.5 38.207 * [taylor]: Taking taylor expansion of phi2 in phi2 38.207 * [backup-simplify]: Simplify 0 into 0 38.207 * [backup-simplify]: Simplify 1 into 1 38.208 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.208 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.208 * [taylor]: Taking taylor expansion of (- (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in phi2 38.208 * [taylor]: Taking taylor expansion of (+ (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))))) in phi2 38.208 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) in phi2 38.208 * [taylor]: Taking taylor expansion of phi2 in phi2 38.208 * [backup-simplify]: Simplify 0 into 0 38.208 * [backup-simplify]: Simplify 1 into 1 38.208 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1))) in phi2 38.208 * [taylor]: Taking taylor expansion of R in phi2 38.208 * [backup-simplify]: Simplify R into R 38.208 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)) in phi2 38.208 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.208 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.208 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.208 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.208 * [backup-simplify]: Simplify -0.5 into -0.5 38.208 * [taylor]: Taking taylor expansion of phi2 in phi2 38.208 * [backup-simplify]: Simplify 0 into 0 38.208 * [backup-simplify]: Simplify 1 into 1 38.209 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.209 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.209 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) phi1) in phi2 38.209 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.209 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.209 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.209 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.209 * [backup-simplify]: Simplify -0.5 into -0.5 38.209 * [taylor]: Taking taylor expansion of phi1 in phi2 38.209 * [backup-simplify]: Simplify phi1 into phi1 38.209 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.209 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.209 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.209 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.209 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.209 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.209 * [taylor]: Taking taylor expansion of phi1 in phi2 38.209 * [backup-simplify]: Simplify phi1 into phi1 38.209 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) in phi2 38.209 * [taylor]: Taking taylor expansion of phi2 in phi2 38.209 * [backup-simplify]: Simplify 0 into 0 38.209 * [backup-simplify]: Simplify 1 into 1 38.209 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1))) in phi2 38.209 * [taylor]: Taking taylor expansion of R in phi2 38.209 * [backup-simplify]: Simplify R into R 38.209 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)) in phi2 38.209 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.209 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.209 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.209 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.210 * [backup-simplify]: Simplify -0.5 into -0.5 38.210 * [taylor]: Taking taylor expansion of phi2 in phi2 38.210 * [backup-simplify]: Simplify 0 into 0 38.210 * [backup-simplify]: Simplify 1 into 1 38.210 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.210 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.210 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) phi1) in phi2 38.210 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.210 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.210 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.210 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.210 * [backup-simplify]: Simplify -0.5 into -0.5 38.210 * [taylor]: Taking taylor expansion of phi1 in phi2 38.210 * [backup-simplify]: Simplify phi1 into phi1 38.210 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.210 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.210 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.210 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.210 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.211 * [backup-simplify]: Simplify (- 0) into 0 38.211 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.211 * [taylor]: Taking taylor expansion of phi1 in phi2 38.211 * [backup-simplify]: Simplify phi1 into phi1 38.211 * [taylor]: Taking taylor expansion of (+ (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2 38.211 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2 38.211 * [taylor]: Taking taylor expansion of phi2 in phi2 38.211 * [backup-simplify]: Simplify 0 into 0 38.211 * [backup-simplify]: Simplify 1 into 1 38.211 * [taylor]: Taking taylor expansion of (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2 38.211 * [taylor]: Taking taylor expansion of R in phi2 38.211 * [backup-simplify]: Simplify R into R 38.211 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2 38.211 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.211 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.211 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.211 * [backup-simplify]: Simplify -0.5 into -0.5 38.211 * [taylor]: Taking taylor expansion of phi2 in phi2 38.211 * [backup-simplify]: Simplify 0 into 0 38.211 * [backup-simplify]: Simplify 1 into 1 38.211 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.211 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.211 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 38.211 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.211 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.211 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.211 * [backup-simplify]: Simplify -0.5 into -0.5 38.211 * [taylor]: Taking taylor expansion of phi2 in phi2 38.212 * [backup-simplify]: Simplify 0 into 0 38.212 * [backup-simplify]: Simplify 1 into 1 38.212 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.212 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.212 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 38.212 * [taylor]: Taking taylor expansion of phi1 in phi2 38.212 * [backup-simplify]: Simplify phi1 into phi1 38.212 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 38.212 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.212 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.212 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.212 * [backup-simplify]: Simplify -0.5 into -0.5 38.212 * [taylor]: Taking taylor expansion of phi1 in phi2 38.212 * [backup-simplify]: Simplify phi1 into phi1 38.212 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.212 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.212 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.212 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.212 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.212 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.212 * [backup-simplify]: Simplify -0.5 into -0.5 38.212 * [taylor]: Taking taylor expansion of phi1 in phi2 38.212 * [backup-simplify]: Simplify phi1 into phi1 38.212 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.212 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.212 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.212 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2 38.213 * [taylor]: Taking taylor expansion of phi2 in phi2 38.213 * [backup-simplify]: Simplify 0 into 0 38.213 * [backup-simplify]: Simplify 1 into 1 38.213 * [taylor]: Taking taylor expansion of (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2 38.213 * [taylor]: Taking taylor expansion of R in phi2 38.213 * [backup-simplify]: Simplify R into R 38.213 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2 38.213 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.213 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.213 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.213 * [backup-simplify]: Simplify -0.5 into -0.5 38.213 * [taylor]: Taking taylor expansion of phi2 in phi2 38.213 * [backup-simplify]: Simplify 0 into 0 38.213 * [backup-simplify]: Simplify 1 into 1 38.213 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.213 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.213 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 38.213 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.213 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.213 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.213 * [backup-simplify]: Simplify -0.5 into -0.5 38.213 * [taylor]: Taking taylor expansion of phi2 in phi2 38.213 * [backup-simplify]: Simplify 0 into 0 38.213 * [backup-simplify]: Simplify 1 into 1 38.214 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.214 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.214 * [taylor]: Taking taylor expansion of (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 38.214 * [taylor]: Taking taylor expansion of phi1 in phi2 38.214 * [backup-simplify]: Simplify phi1 into phi1 38.214 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 38.214 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.214 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.214 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.214 * [backup-simplify]: Simplify -0.5 into -0.5 38.214 * [taylor]: Taking taylor expansion of phi1 in phi2 38.214 * [backup-simplify]: Simplify phi1 into phi1 38.214 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.214 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.214 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.214 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.214 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.214 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.214 * [backup-simplify]: Simplify -0.5 into -0.5 38.214 * [taylor]: Taking taylor expansion of phi1 in phi2 38.214 * [backup-simplify]: Simplify phi1 into phi1 38.214 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.214 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.214 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.214 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.214 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.215 * [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)) 38.215 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.215 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.215 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) phi1) into (* (pow (sin (/ -0.5 phi1)) 2) phi1) 38.215 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1)) into (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 38.216 * [backup-simplify]: Simplify (* R (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) 38.216 * [backup-simplify]: Simplify (* 0 (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) into 0 38.216 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.216 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.216 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) phi1) into (* (pow (cos (/ -0.5 phi1)) 2) phi1) 38.216 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)) into (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) 38.217 * [backup-simplify]: Simplify (* R (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) into (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) 38.217 * [backup-simplify]: Simplify (* 0 (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) into 0 38.217 * [backup-simplify]: Simplify (+ 0 0) into 0 38.217 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.217 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.218 * [backup-simplify]: Simplify (- 0) into 0 38.218 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.218 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.218 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.218 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.218 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 38.218 * [backup-simplify]: Simplify (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) phi1)) 38.218 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) phi1))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))) 38.219 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1)))) into (* phi1 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 38.219 * [backup-simplify]: Simplify (* R (* phi1 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R))))) 38.219 * [backup-simplify]: Simplify (* 0 (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))))) into 0 38.219 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.219 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.219 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.219 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.219 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.220 * [backup-simplify]: Simplify (- 0) into 0 38.220 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.220 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 38.220 * [backup-simplify]: Simplify (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) phi1)) 38.220 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) phi1))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))) 38.220 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1)))) into (* phi1 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 38.221 * [backup-simplify]: Simplify (* R (* phi1 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))) 38.221 * [backup-simplify]: Simplify (* 0 (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))))) into 0 38.221 * [backup-simplify]: Simplify (+ 0 0) into 0 38.221 * [backup-simplify]: Simplify (- 0) into 0 38.222 * [backup-simplify]: Simplify (+ 0 0) into 0 38.222 * [backup-simplify]: Simplify (+ 0) into 0 38.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.222 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.223 * [backup-simplify]: Simplify (+ 0 0) into 0 38.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.224 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 phi1)) into 0 38.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.224 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 2) phi1))) into 0 38.224 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0 38.225 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))))) into (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) 38.225 * [backup-simplify]: Simplify (+ 0) into 0 38.226 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.226 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.227 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.227 * [backup-simplify]: Simplify (- 0) into 0 38.227 * [backup-simplify]: Simplify (+ 0 0) into 0 38.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.227 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 phi1)) into 0 38.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.228 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) phi1))) into 0 38.228 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))))) into 0 38.229 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))))) into (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1))) 38.230 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) into (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) 38.231 * [backup-simplify]: Simplify (+ 0) into 0 38.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.231 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.233 * [backup-simplify]: Simplify (+ 0 0) into 0 38.234 * [backup-simplify]: Simplify (+ 0) into 0 38.234 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.234 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.235 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.236 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.236 * [backup-simplify]: Simplify (- 0) into 0 38.236 * [backup-simplify]: Simplify (+ 0 0) into 0 38.236 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.236 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 38.237 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) phi1)))) into 0 38.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))))) into 0 38.237 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into 0 38.238 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R))))))) into (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))) 38.238 * [backup-simplify]: Simplify (+ 0) into 0 38.238 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.238 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.239 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.239 * [backup-simplify]: Simplify (- 0) into 0 38.240 * [backup-simplify]: Simplify (+ 0 0) into 0 38.240 * [backup-simplify]: Simplify (+ 0) into 0 38.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.240 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.241 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.242 * [backup-simplify]: Simplify (+ 0 0) into 0 38.242 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.242 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 38.242 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) phi1)))) into 0 38.242 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) into 0 38.243 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into 0 38.243 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))))) into (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) 38.244 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1)))))) 38.245 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))))))) 38.246 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (- (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1)))))))) into (- (+ (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))) 38.248 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) into (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) 38.248 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) in phi2 38.248 * [taylor]: Taking taylor expansion of 1/2 in phi2 38.248 * [backup-simplify]: Simplify 1/2 into 1/2 38.248 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))) in phi2 38.248 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 38.248 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 38.248 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 38.248 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 38.248 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.248 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.248 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.248 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.248 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.248 * [backup-simplify]: Simplify -0.5 into -0.5 38.248 * [taylor]: Taking taylor expansion of phi2 in phi2 38.248 * [backup-simplify]: Simplify 0 into 0 38.248 * [backup-simplify]: Simplify 1 into 1 38.249 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.249 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.249 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.249 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.249 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.249 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.249 * [backup-simplify]: Simplify -0.5 into -0.5 38.249 * [taylor]: Taking taylor expansion of phi1 in phi2 38.249 * [backup-simplify]: Simplify phi1 into phi1 38.249 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.249 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.249 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.249 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.249 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.249 * [backup-simplify]: Simplify (- 0) into 0 38.250 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.250 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 38.250 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.250 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.250 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.250 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.250 * [backup-simplify]: Simplify -0.5 into -0.5 38.250 * [taylor]: Taking taylor expansion of phi2 in phi2 38.250 * [backup-simplify]: Simplify 0 into 0 38.250 * [backup-simplify]: Simplify 1 into 1 38.250 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.250 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.250 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.250 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.250 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.250 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.250 * [backup-simplify]: Simplify -0.5 into -0.5 38.250 * [taylor]: Taking taylor expansion of phi1 in phi2 38.250 * [backup-simplify]: Simplify phi1 into phi1 38.250 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.250 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.250 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.250 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.250 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.251 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.251 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 38.251 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 38.251 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.251 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.251 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.251 * [backup-simplify]: Simplify -0.5 into -0.5 38.251 * [taylor]: Taking taylor expansion of phi2 in phi2 38.251 * [backup-simplify]: Simplify 0 into 0 38.251 * [backup-simplify]: Simplify 1 into 1 38.251 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.251 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.251 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 38.251 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.251 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.251 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.251 * [backup-simplify]: Simplify -0.5 into -0.5 38.251 * [taylor]: Taking taylor expansion of phi1 in phi2 38.251 * [backup-simplify]: Simplify phi1 into phi1 38.251 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.251 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.251 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.251 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 38.251 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.251 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.251 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.251 * [backup-simplify]: Simplify -0.5 into -0.5 38.252 * [taylor]: Taking taylor expansion of phi2 in phi2 38.252 * [backup-simplify]: Simplify 0 into 0 38.252 * [backup-simplify]: Simplify 1 into 1 38.252 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.252 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.252 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.252 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.252 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.252 * [backup-simplify]: Simplify -0.5 into -0.5 38.252 * [taylor]: Taking taylor expansion of phi1 in phi2 38.252 * [backup-simplify]: Simplify phi1 into phi1 38.252 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.252 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.252 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.252 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 38.252 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.252 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.252 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.252 * [backup-simplify]: Simplify -0.5 into -0.5 38.252 * [taylor]: Taking taylor expansion of phi2 in phi2 38.252 * [backup-simplify]: Simplify 0 into 0 38.252 * [backup-simplify]: Simplify 1 into 1 38.253 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.253 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.253 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 38.253 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.253 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.253 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.253 * [backup-simplify]: Simplify -0.5 into -0.5 38.253 * [taylor]: Taking taylor expansion of phi1 in phi2 38.253 * [backup-simplify]: Simplify phi1 into phi1 38.253 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.253 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.253 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.253 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 38.253 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.253 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.253 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.253 * [backup-simplify]: Simplify -0.5 into -0.5 38.253 * [taylor]: Taking taylor expansion of phi2 in phi2 38.253 * [backup-simplify]: Simplify 0 into 0 38.253 * [backup-simplify]: Simplify 1 into 1 38.253 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.253 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.253 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.253 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.254 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.254 * [backup-simplify]: Simplify -0.5 into -0.5 38.254 * [taylor]: Taking taylor expansion of phi1 in phi2 38.254 * [backup-simplify]: Simplify phi1 into phi1 38.254 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.254 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.254 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.254 * [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)) 38.254 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.254 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.255 * [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)) 38.255 * [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))) 38.255 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.255 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.255 * [backup-simplify]: Simplify (- 0) into 0 38.256 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.256 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 38.256 * [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)))) 38.256 * [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))))) 38.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.256 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.257 * [backup-simplify]: Simplify (- 0) into 0 38.257 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.257 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 38.257 * [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)))) 38.257 * [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))))) 38.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 38.258 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 38.259 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 38.260 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 38.261 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 38.262 * [backup-simplify]: Simplify (+ 0) into 0 38.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.262 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.263 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.263 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.263 * [backup-simplify]: Simplify (- 0) into 0 38.264 * [backup-simplify]: Simplify (+ 0 0) into 0 38.264 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.264 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.264 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 38.264 * [backup-simplify]: Simplify (+ 0) into 0 38.265 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.266 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.266 * [backup-simplify]: Simplify (+ 0 0) into 0 38.266 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.266 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.266 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 38.267 * [backup-simplify]: Simplify (+ 0 0) into 0 38.267 * [backup-simplify]: Simplify (+ 0) into 0 38.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.267 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.268 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.268 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.268 * [backup-simplify]: Simplify (+ 0 0) into 0 38.268 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.269 * [backup-simplify]: Simplify (+ 0) into 0 38.269 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.269 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.270 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.270 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.270 * [backup-simplify]: Simplify (- 0) into 0 38.270 * [backup-simplify]: Simplify (+ 0 0) into 0 38.271 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 38.271 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 38.271 * [backup-simplify]: Simplify (+ 0) into 0 38.272 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.272 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.272 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.273 * [backup-simplify]: Simplify (- 0) into 0 38.273 * [backup-simplify]: Simplify (+ 0 0) into 0 38.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.274 * [backup-simplify]: Simplify (+ 0) into 0 38.275 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.275 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.276 * [backup-simplify]: Simplify (+ 0 0) into 0 38.276 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 38.276 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 38.276 * [backup-simplify]: Simplify (+ 0 0) into 0 38.277 * [backup-simplify]: Simplify (- 0) into 0 38.277 * [backup-simplify]: Simplify (+ 0 0) into 0 38.279 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 38.280 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 38.280 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) in phi2 38.280 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 38.280 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.280 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.280 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.280 * [backup-simplify]: Simplify -0.5 into -0.5 38.281 * [taylor]: Taking taylor expansion of phi2 in phi2 38.281 * [backup-simplify]: Simplify 0 into 0 38.281 * [backup-simplify]: Simplify 1 into 1 38.281 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.281 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.281 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 38.281 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.281 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.281 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.281 * [backup-simplify]: Simplify -0.5 into -0.5 38.281 * [taylor]: Taking taylor expansion of phi1 in phi2 38.281 * [backup-simplify]: Simplify phi1 into phi1 38.281 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.281 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.281 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.281 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 38.281 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.281 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.281 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.281 * [backup-simplify]: Simplify -0.5 into -0.5 38.282 * [taylor]: Taking taylor expansion of phi2 in phi2 38.282 * [backup-simplify]: Simplify 0 into 0 38.282 * [backup-simplify]: Simplify 1 into 1 38.282 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.282 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.282 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.282 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.282 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.282 * [backup-simplify]: Simplify -0.5 into -0.5 38.282 * [taylor]: Taking taylor expansion of phi1 in phi2 38.282 * [backup-simplify]: Simplify phi1 into phi1 38.282 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.282 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.282 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.282 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) in phi2 38.282 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) in phi2 38.282 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) in phi2 38.282 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.282 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.282 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.282 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.282 * [backup-simplify]: Simplify -0.5 into -0.5 38.282 * [taylor]: Taking taylor expansion of phi2 in phi2 38.282 * [backup-simplify]: Simplify 0 into 0 38.282 * [backup-simplify]: Simplify 1 into 1 38.283 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.283 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.283 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) in phi2 38.283 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.283 * [taylor]: Taking taylor expansion of phi1 in phi2 38.283 * [backup-simplify]: Simplify phi1 into phi1 38.283 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) R) in phi2 38.283 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.283 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.283 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.283 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.283 * [backup-simplify]: Simplify -0.5 into -0.5 38.283 * [taylor]: Taking taylor expansion of phi1 in phi2 38.283 * [backup-simplify]: Simplify phi1 into phi1 38.283 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.283 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.283 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.283 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.283 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.284 * [backup-simplify]: Simplify (- 0) into 0 38.284 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.284 * [taylor]: Taking taylor expansion of R in phi2 38.284 * [backup-simplify]: Simplify R into R 38.284 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) in phi2 38.284 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.284 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.284 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.284 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.284 * [backup-simplify]: Simplify -0.5 into -0.5 38.284 * [taylor]: Taking taylor expansion of phi2 in phi2 38.284 * [backup-simplify]: Simplify 0 into 0 38.284 * [backup-simplify]: Simplify 1 into 1 38.284 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.284 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.284 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)) in phi2 38.285 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.285 * [taylor]: Taking taylor expansion of phi1 in phi2 38.285 * [backup-simplify]: Simplify phi1 into phi1 38.285 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) R) in phi2 38.285 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.285 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.285 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.285 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.285 * [backup-simplify]: Simplify -0.5 into -0.5 38.285 * [taylor]: Taking taylor expansion of phi1 in phi2 38.285 * [backup-simplify]: Simplify phi1 into phi1 38.285 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.285 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.285 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.285 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.285 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.285 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.285 * [taylor]: Taking taylor expansion of R in phi2 38.285 * [backup-simplify]: Simplify R into R 38.286 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))) in phi2 38.286 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) in phi2 38.286 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.286 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.286 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.286 * [backup-simplify]: Simplify -0.5 into -0.5 38.286 * [taylor]: Taking taylor expansion of phi1 in phi2 38.286 * [backup-simplify]: Simplify phi1 into phi1 38.286 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.286 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.286 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.286 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) in phi2 38.286 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.286 * [taylor]: Taking taylor expansion of phi1 in phi2 38.286 * [backup-simplify]: Simplify phi1 into phi1 38.286 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))) in phi2 38.286 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.286 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.286 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.286 * [backup-simplify]: Simplify -0.5 into -0.5 38.286 * [taylor]: Taking taylor expansion of phi2 in phi2 38.286 * [backup-simplify]: Simplify 0 into 0 38.286 * [backup-simplify]: Simplify 1 into 1 38.287 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.287 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.287 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) in phi2 38.287 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.287 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.287 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.287 * [backup-simplify]: Simplify -0.5 into -0.5 38.287 * [taylor]: Taking taylor expansion of phi2 in phi2 38.287 * [backup-simplify]: Simplify 0 into 0 38.287 * [backup-simplify]: Simplify 1 into 1 38.288 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.288 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.288 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) R) in phi2 38.288 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.288 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.288 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.288 * [backup-simplify]: Simplify -0.5 into -0.5 38.288 * [taylor]: Taking taylor expansion of phi1 in phi2 38.288 * [backup-simplify]: Simplify phi1 into phi1 38.288 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.288 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.288 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.288 * [taylor]: Taking taylor expansion of R in phi2 38.289 * [backup-simplify]: Simplify R into R 38.289 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) in phi2 38.289 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.289 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.289 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.289 * [backup-simplify]: Simplify -0.5 into -0.5 38.289 * [taylor]: Taking taylor expansion of phi1 in phi2 38.289 * [backup-simplify]: Simplify phi1 into phi1 38.289 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.289 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.289 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.289 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))) in phi2 38.289 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.289 * [taylor]: Taking taylor expansion of phi1 in phi2 38.289 * [backup-simplify]: Simplify phi1 into phi1 38.289 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))) in phi2 38.289 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.289 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.290 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.290 * [backup-simplify]: Simplify -0.5 into -0.5 38.290 * [taylor]: Taking taylor expansion of phi2 in phi2 38.290 * [backup-simplify]: Simplify 0 into 0 38.290 * [backup-simplify]: Simplify 1 into 1 38.290 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.290 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.291 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) in phi2 38.291 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.291 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.291 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.291 * [backup-simplify]: Simplify -0.5 into -0.5 38.291 * [taylor]: Taking taylor expansion of phi2 in phi2 38.291 * [backup-simplify]: Simplify 0 into 0 38.291 * [backup-simplify]: Simplify 1 into 1 38.292 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.292 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.292 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) R) in phi2 38.292 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.292 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.292 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.292 * [backup-simplify]: Simplify -0.5 into -0.5 38.292 * [taylor]: Taking taylor expansion of phi1 in phi2 38.292 * [backup-simplify]: Simplify phi1 into phi1 38.292 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.292 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.293 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.293 * [taylor]: Taking taylor expansion of R in phi2 38.293 * [backup-simplify]: Simplify R into R 38.293 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.293 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.293 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.293 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.293 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.294 * [backup-simplify]: Simplify (- 0) into 0 38.294 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.294 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 38.294 * [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)))) 38.295 * [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))))) 38.295 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.295 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.295 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.296 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) R) into (* (pow (cos (/ -0.5 phi1)) 2) R) 38.296 * [backup-simplify]: Simplify (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) into (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2))) 38.296 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) into (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2)))) 38.297 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.297 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.297 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.297 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) R) into (* (pow (sin (/ -0.5 phi1)) 2) R) 38.297 * [backup-simplify]: Simplify (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)) into (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))) 38.298 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)))) into (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) 38.299 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2))))) into (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) 38.299 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.300 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.300 * [backup-simplify]: Simplify (- 0) into 0 38.300 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.300 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.300 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.301 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.301 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.301 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) R) into (* (sin (/ -0.5 phi1)) R) 38.301 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) into (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 38.301 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 38.302 * [backup-simplify]: Simplify (* (pow phi1 2) (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2))))) 38.302 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) into (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) 38.302 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.303 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.303 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.303 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.303 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.303 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.303 * [backup-simplify]: Simplify (- 0) into 0 38.304 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.304 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) R) into (* (cos (/ -0.5 phi1)) R) 38.304 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) into (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 38.304 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 38.305 * [backup-simplify]: Simplify (* (pow phi1 2) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))) 38.305 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) into (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) 38.307 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2))))))) into (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))) 38.308 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) 38.310 * [backup-simplify]: Simplify (+ (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) into (- (+ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) 38.312 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) into (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) 38.312 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))))) in phi2 38.318 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) in phi2 38.318 * [taylor]: Taking taylor expansion of 1/2 in phi2 38.318 * [backup-simplify]: Simplify 1/2 into 1/2 38.318 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))) in phi2 38.318 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 38.318 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 38.318 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 38.318 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 38.318 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.318 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.318 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.318 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.318 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.318 * [backup-simplify]: Simplify -0.5 into -0.5 38.318 * [taylor]: Taking taylor expansion of phi2 in phi2 38.318 * [backup-simplify]: Simplify 0 into 0 38.318 * [backup-simplify]: Simplify 1 into 1 38.319 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.319 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.319 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.319 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.319 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.319 * [backup-simplify]: Simplify -0.5 into -0.5 38.319 * [taylor]: Taking taylor expansion of phi1 in phi2 38.319 * [backup-simplify]: Simplify phi1 into phi1 38.319 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.319 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.319 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.319 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.319 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.320 * [backup-simplify]: Simplify (- 0) into 0 38.320 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.320 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 38.320 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.320 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.320 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.320 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.320 * [backup-simplify]: Simplify -0.5 into -0.5 38.320 * [taylor]: Taking taylor expansion of phi2 in phi2 38.320 * [backup-simplify]: Simplify 0 into 0 38.320 * [backup-simplify]: Simplify 1 into 1 38.320 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.320 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.320 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.320 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.320 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.320 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.320 * [backup-simplify]: Simplify -0.5 into -0.5 38.320 * [taylor]: Taking taylor expansion of phi1 in phi2 38.320 * [backup-simplify]: Simplify phi1 into phi1 38.320 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.320 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.320 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.321 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.321 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.321 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.321 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 38.321 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 38.321 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.321 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.321 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.321 * [backup-simplify]: Simplify -0.5 into -0.5 38.321 * [taylor]: Taking taylor expansion of phi2 in phi2 38.321 * [backup-simplify]: Simplify 0 into 0 38.321 * [backup-simplify]: Simplify 1 into 1 38.321 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.321 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.321 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 38.321 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.321 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.321 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.321 * [backup-simplify]: Simplify -0.5 into -0.5 38.321 * [taylor]: Taking taylor expansion of phi1 in phi2 38.321 * [backup-simplify]: Simplify phi1 into phi1 38.321 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.321 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.321 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.322 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 38.322 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.322 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.322 * [backup-simplify]: Simplify -0.5 into -0.5 38.322 * [taylor]: Taking taylor expansion of phi2 in phi2 38.322 * [backup-simplify]: Simplify 0 into 0 38.322 * [backup-simplify]: Simplify 1 into 1 38.322 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.322 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.322 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.322 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.322 * [backup-simplify]: Simplify -0.5 into -0.5 38.322 * [taylor]: Taking taylor expansion of phi1 in phi2 38.322 * [backup-simplify]: Simplify phi1 into phi1 38.322 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.322 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.322 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.322 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 38.322 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.322 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.322 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.323 * [backup-simplify]: Simplify -0.5 into -0.5 38.323 * [taylor]: Taking taylor expansion of phi2 in phi2 38.323 * [backup-simplify]: Simplify 0 into 0 38.323 * [backup-simplify]: Simplify 1 into 1 38.323 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.323 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.323 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 38.323 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.323 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.323 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.323 * [backup-simplify]: Simplify -0.5 into -0.5 38.323 * [taylor]: Taking taylor expansion of phi1 in phi2 38.323 * [backup-simplify]: Simplify phi1 into phi1 38.323 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.323 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.323 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.323 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 38.323 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.323 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.323 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.323 * [backup-simplify]: Simplify -0.5 into -0.5 38.323 * [taylor]: Taking taylor expansion of phi2 in phi2 38.323 * [backup-simplify]: Simplify 0 into 0 38.323 * [backup-simplify]: Simplify 1 into 1 38.324 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.324 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.324 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.324 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.324 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.324 * [backup-simplify]: Simplify -0.5 into -0.5 38.324 * [taylor]: Taking taylor expansion of phi1 in phi2 38.324 * [backup-simplify]: Simplify phi1 into phi1 38.324 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.324 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.324 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.324 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.324 * [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)) 38.325 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.325 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.325 * [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)) 38.325 * [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))) 38.325 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.325 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.326 * [backup-simplify]: Simplify (- 0) into 0 38.326 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.326 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.326 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.326 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.326 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 38.326 * [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)))) 38.326 * [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))))) 38.326 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.326 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.327 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.327 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.327 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.327 * [backup-simplify]: Simplify (- 0) into 0 38.327 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.327 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 38.327 * [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)))) 38.327 * [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))))) 38.328 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 38.328 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 38.329 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 38.330 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 38.331 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 38.332 * [backup-simplify]: Simplify (+ 0) into 0 38.332 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.332 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.333 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.333 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.333 * [backup-simplify]: Simplify (- 0) into 0 38.334 * [backup-simplify]: Simplify (+ 0 0) into 0 38.334 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.334 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.334 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 38.334 * [backup-simplify]: Simplify (+ 0) into 0 38.335 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.335 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.336 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.336 * [backup-simplify]: Simplify (+ 0 0) into 0 38.336 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.336 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.337 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 38.337 * [backup-simplify]: Simplify (+ 0 0) into 0 38.337 * [backup-simplify]: Simplify (+ 0) into 0 38.338 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.338 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.339 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.339 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.340 * [backup-simplify]: Simplify (+ 0 0) into 0 38.340 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.340 * [backup-simplify]: Simplify (+ 0) into 0 38.341 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.341 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.342 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.343 * [backup-simplify]: Simplify (- 0) into 0 38.343 * [backup-simplify]: Simplify (+ 0 0) into 0 38.343 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 38.344 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 38.344 * [backup-simplify]: Simplify (+ 0) into 0 38.345 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.345 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.346 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.346 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.347 * [backup-simplify]: Simplify (- 0) into 0 38.347 * [backup-simplify]: Simplify (+ 0 0) into 0 38.347 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.348 * [backup-simplify]: Simplify (+ 0) into 0 38.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.349 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.350 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.350 * [backup-simplify]: Simplify (+ 0 0) into 0 38.351 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 38.351 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 38.351 * [backup-simplify]: Simplify (+ 0 0) into 0 38.352 * [backup-simplify]: Simplify (- 0) into 0 38.352 * [backup-simplify]: Simplify (+ 0 0) into 0 38.357 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 38.359 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 38.359 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) in phi2 38.359 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.359 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.359 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.359 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.359 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.359 * [backup-simplify]: Simplify -0.5 into -0.5 38.359 * [taylor]: Taking taylor expansion of phi2 in phi2 38.359 * [backup-simplify]: Simplify 0 into 0 38.360 * [backup-simplify]: Simplify 1 into 1 38.360 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.360 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.360 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.360 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.360 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.360 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.360 * [backup-simplify]: Simplify -0.5 into -0.5 38.361 * [taylor]: Taking taylor expansion of phi1 in phi2 38.361 * [backup-simplify]: Simplify phi1 into phi1 38.361 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.361 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.361 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.361 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.361 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.361 * [backup-simplify]: Simplify (- 0) into 0 38.362 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.362 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) in phi2 38.362 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) in phi2 38.362 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) in phi2 38.362 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.362 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.362 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.362 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.362 * [backup-simplify]: Simplify -0.5 into -0.5 38.362 * [taylor]: Taking taylor expansion of phi2 in phi2 38.362 * [backup-simplify]: Simplify 0 into 0 38.362 * [backup-simplify]: Simplify 1 into 1 38.363 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.363 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.363 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) in phi2 38.363 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.363 * [taylor]: Taking taylor expansion of phi1 in phi2 38.363 * [backup-simplify]: Simplify phi1 into phi1 38.363 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) R) in phi2 38.363 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.363 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.363 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.363 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.363 * [backup-simplify]: Simplify -0.5 into -0.5 38.363 * [taylor]: Taking taylor expansion of phi1 in phi2 38.363 * [backup-simplify]: Simplify phi1 into phi1 38.363 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.363 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.363 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.363 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.364 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.364 * [backup-simplify]: Simplify (- 0) into 0 38.364 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.364 * [taylor]: Taking taylor expansion of R in phi2 38.364 * [backup-simplify]: Simplify R into R 38.364 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) in phi2 38.364 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.364 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.364 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.364 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.364 * [backup-simplify]: Simplify -0.5 into -0.5 38.364 * [taylor]: Taking taylor expansion of phi2 in phi2 38.364 * [backup-simplify]: Simplify 0 into 0 38.364 * [backup-simplify]: Simplify 1 into 1 38.365 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.365 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.365 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)) in phi2 38.365 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.365 * [taylor]: Taking taylor expansion of phi1 in phi2 38.365 * [backup-simplify]: Simplify phi1 into phi1 38.365 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) R) in phi2 38.365 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.365 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.365 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.365 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.365 * [backup-simplify]: Simplify -0.5 into -0.5 38.365 * [taylor]: Taking taylor expansion of phi1 in phi2 38.365 * [backup-simplify]: Simplify phi1 into phi1 38.365 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.366 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.366 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.366 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.366 * [taylor]: Taking taylor expansion of R in phi2 38.366 * [backup-simplify]: Simplify R into R 38.366 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))) in phi2 38.366 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) in phi2 38.366 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.366 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.366 * [backup-simplify]: Simplify -0.5 into -0.5 38.366 * [taylor]: Taking taylor expansion of phi1 in phi2 38.366 * [backup-simplify]: Simplify phi1 into phi1 38.366 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.367 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) in phi2 38.367 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.367 * [taylor]: Taking taylor expansion of phi1 in phi2 38.367 * [backup-simplify]: Simplify phi1 into phi1 38.367 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))) in phi2 38.367 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.367 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.367 * [backup-simplify]: Simplify -0.5 into -0.5 38.367 * [taylor]: Taking taylor expansion of phi2 in phi2 38.367 * [backup-simplify]: Simplify 0 into 0 38.367 * [backup-simplify]: Simplify 1 into 1 38.368 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.368 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.368 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) in phi2 38.368 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.368 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.368 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.368 * [backup-simplify]: Simplify -0.5 into -0.5 38.368 * [taylor]: Taking taylor expansion of phi2 in phi2 38.368 * [backup-simplify]: Simplify 0 into 0 38.368 * [backup-simplify]: Simplify 1 into 1 38.368 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.368 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.369 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) R) in phi2 38.369 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.369 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.369 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.369 * [backup-simplify]: Simplify -0.5 into -0.5 38.369 * [taylor]: Taking taylor expansion of phi1 in phi2 38.369 * [backup-simplify]: Simplify phi1 into phi1 38.369 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.369 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.369 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.369 * [taylor]: Taking taylor expansion of R in phi2 38.369 * [backup-simplify]: Simplify R into R 38.369 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) in phi2 38.369 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.369 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.369 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.369 * [backup-simplify]: Simplify -0.5 into -0.5 38.369 * [taylor]: Taking taylor expansion of phi1 in phi2 38.369 * [backup-simplify]: Simplify phi1 into phi1 38.369 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.369 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.369 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.370 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))) in phi2 38.370 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.370 * [taylor]: Taking taylor expansion of phi1 in phi2 38.370 * [backup-simplify]: Simplify phi1 into phi1 38.370 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))) in phi2 38.370 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.370 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.370 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.370 * [backup-simplify]: Simplify -0.5 into -0.5 38.370 * [taylor]: Taking taylor expansion of phi2 in phi2 38.370 * [backup-simplify]: Simplify 0 into 0 38.370 * [backup-simplify]: Simplify 1 into 1 38.370 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.371 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.371 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) in phi2 38.371 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.371 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.371 * [backup-simplify]: Simplify -0.5 into -0.5 38.371 * [taylor]: Taking taylor expansion of phi2 in phi2 38.371 * [backup-simplify]: Simplify 0 into 0 38.371 * [backup-simplify]: Simplify 1 into 1 38.371 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.371 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.371 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) R) in phi2 38.371 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.372 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.372 * [backup-simplify]: Simplify -0.5 into -0.5 38.372 * [taylor]: Taking taylor expansion of phi1 in phi2 38.372 * [backup-simplify]: Simplify phi1 into phi1 38.372 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.372 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.372 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.372 * [taylor]: Taking taylor expansion of R in phi2 38.372 * [backup-simplify]: Simplify R into R 38.372 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.372 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.373 * [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)) 38.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.373 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.373 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) R) into (* (pow (cos (/ -0.5 phi1)) 2) R) 38.374 * [backup-simplify]: Simplify (* (pow phi1 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) into (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2))) 38.374 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) into (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2)))) 38.374 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.375 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.375 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.375 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) R) into (* (pow (sin (/ -0.5 phi1)) 2) R) 38.376 * [backup-simplify]: Simplify (* (pow phi1 2) (* (pow (sin (/ -0.5 phi1)) 2) R)) into (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))) 38.376 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)))) into (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2)))) 38.377 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2))))) into (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) 38.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.378 * [backup-simplify]: Simplify (- 0) into 0 38.378 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.378 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.379 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.379 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) R) into (* (sin (/ -0.5 phi1)) R) 38.379 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) into (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 38.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 38.380 * [backup-simplify]: Simplify (* (pow phi1 2) (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2))))) 38.380 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) into (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) 38.381 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.381 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.381 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.381 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.382 * [backup-simplify]: Simplify (- 0) into 0 38.382 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) R) into (* (cos (/ -0.5 phi1)) R) 38.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) into (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 38.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 38.383 * [backup-simplify]: Simplify (* (pow phi1 2) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))) 38.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) into (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) 38.385 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2))))))) into (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))) 38.387 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) 38.391 * [backup-simplify]: Simplify (+ (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) into (- (+ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) 38.395 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) 38.395 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))) in phi2 38.395 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi2 38.395 * [taylor]: Taking taylor expansion of 1/2 in phi2 38.395 * [backup-simplify]: Simplify 1/2 into 1/2 38.395 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi2 38.395 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))))) in phi2 38.395 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 38.395 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.396 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.396 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.396 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.396 * [backup-simplify]: Simplify -0.5 into -0.5 38.396 * [taylor]: Taking taylor expansion of phi2 in phi2 38.396 * [backup-simplify]: Simplify 0 into 0 38.396 * [backup-simplify]: Simplify 1 into 1 38.396 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.397 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.397 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.397 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.397 * [backup-simplify]: Simplify -0.5 into -0.5 38.397 * [taylor]: Taking taylor expansion of phi1 in phi2 38.397 * [backup-simplify]: Simplify phi1 into phi1 38.397 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.397 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.397 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.397 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.397 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.398 * [taylor]: Taking taylor expansion of (- (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) in phi2 38.398 * [taylor]: Taking taylor expansion of (+ (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) in phi2 38.398 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) in phi2 38.398 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.398 * [taylor]: Taking taylor expansion of phi2 in phi2 38.398 * [backup-simplify]: Simplify 0 into 0 38.398 * [backup-simplify]: Simplify 1 into 1 38.398 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)) in phi2 38.398 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.398 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.398 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.398 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.398 * [backup-simplify]: Simplify -0.5 into -0.5 38.398 * [taylor]: Taking taylor expansion of phi1 in phi2 38.398 * [backup-simplify]: Simplify phi1 into phi1 38.398 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.398 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.398 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.398 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.399 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.399 * [backup-simplify]: Simplify (- 0) into 0 38.399 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.399 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) R) in phi2 38.399 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.399 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.399 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.399 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.399 * [backup-simplify]: Simplify -0.5 into -0.5 38.399 * [taylor]: Taking taylor expansion of phi2 in phi2 38.399 * [backup-simplify]: Simplify 0 into 0 38.400 * [backup-simplify]: Simplify 1 into 1 38.400 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.400 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.400 * [taylor]: Taking taylor expansion of R in phi2 38.400 * [backup-simplify]: Simplify R into R 38.400 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) in phi2 38.400 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.400 * [taylor]: Taking taylor expansion of phi2 in phi2 38.400 * [backup-simplify]: Simplify 0 into 0 38.400 * [backup-simplify]: Simplify 1 into 1 38.400 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) in phi2 38.401 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.401 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.401 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.401 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.401 * [backup-simplify]: Simplify -0.5 into -0.5 38.401 * [taylor]: Taking taylor expansion of phi1 in phi2 38.401 * [backup-simplify]: Simplify phi1 into phi1 38.401 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.401 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.401 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.401 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.401 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.401 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.401 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) R) in phi2 38.402 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.402 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.402 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.402 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.402 * [backup-simplify]: Simplify -0.5 into -0.5 38.402 * [taylor]: Taking taylor expansion of phi2 in phi2 38.402 * [backup-simplify]: Simplify 0 into 0 38.402 * [backup-simplify]: Simplify 1 into 1 38.403 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.403 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.403 * [taylor]: Taking taylor expansion of R in phi2 38.403 * [backup-simplify]: Simplify R into R 38.403 * [taylor]: Taking taylor expansion of (+ (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))) in phi2 38.403 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) in phi2 38.403 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.403 * [taylor]: Taking taylor expansion of phi2 in phi2 38.403 * [backup-simplify]: Simplify 0 into 0 38.403 * [backup-simplify]: Simplify 1 into 1 38.403 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))) in phi2 38.403 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.403 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.403 * [backup-simplify]: Simplify -0.5 into -0.5 38.403 * [taylor]: Taking taylor expansion of phi2 in phi2 38.403 * [backup-simplify]: Simplify 0 into 0 38.403 * [backup-simplify]: Simplify 1 into 1 38.404 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.404 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))) in phi2 38.404 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.404 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.404 * [backup-simplify]: Simplify -0.5 into -0.5 38.404 * [taylor]: Taking taylor expansion of phi1 in phi2 38.404 * [backup-simplify]: Simplify phi1 into phi1 38.404 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.404 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) in phi2 38.404 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.404 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.405 * [backup-simplify]: Simplify -0.5 into -0.5 38.405 * [taylor]: Taking taylor expansion of phi2 in phi2 38.405 * [backup-simplify]: Simplify 0 into 0 38.405 * [backup-simplify]: Simplify 1 into 1 38.405 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.405 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) R) in phi2 38.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.405 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.405 * [backup-simplify]: Simplify -0.5 into -0.5 38.405 * [taylor]: Taking taylor expansion of phi1 in phi2 38.405 * [backup-simplify]: Simplify phi1 into phi1 38.405 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.406 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.406 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.406 * [taylor]: Taking taylor expansion of R in phi2 38.406 * [backup-simplify]: Simplify R into R 38.406 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) in phi2 38.406 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.406 * [taylor]: Taking taylor expansion of phi2 in phi2 38.406 * [backup-simplify]: Simplify 0 into 0 38.406 * [backup-simplify]: Simplify 1 into 1 38.406 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) in phi2 38.406 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.406 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.406 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.406 * [backup-simplify]: Simplify -0.5 into -0.5 38.406 * [taylor]: Taking taylor expansion of phi2 in phi2 38.406 * [backup-simplify]: Simplify 0 into 0 38.406 * [backup-simplify]: Simplify 1 into 1 38.407 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.407 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.407 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))) in phi2 38.407 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.407 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.407 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.407 * [backup-simplify]: Simplify -0.5 into -0.5 38.407 * [taylor]: Taking taylor expansion of phi1 in phi2 38.407 * [backup-simplify]: Simplify phi1 into phi1 38.407 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.407 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.407 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.407 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) in phi2 38.407 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.407 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.407 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.407 * [backup-simplify]: Simplify -0.5 into -0.5 38.407 * [taylor]: Taking taylor expansion of phi2 in phi2 38.407 * [backup-simplify]: Simplify 0 into 0 38.407 * [backup-simplify]: Simplify 1 into 1 38.408 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.408 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.408 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) R) in phi2 38.408 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.408 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.408 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.408 * [backup-simplify]: Simplify -0.5 into -0.5 38.408 * [taylor]: Taking taylor expansion of phi1 in phi2 38.408 * [backup-simplify]: Simplify phi1 into phi1 38.408 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.408 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.409 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.409 * [taylor]: Taking taylor expansion of R in phi2 38.409 * [backup-simplify]: Simplify R into R 38.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.409 * [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)) 38.410 * [backup-simplify]: Simplify (* 1 1) into 1 38.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.410 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) R) into (* (pow (cos (/ -0.5 phi2)) 2) R) 38.411 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)) into (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) 38.411 * [backup-simplify]: Simplify (* 1 (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) into (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) 38.412 * [backup-simplify]: Simplify (* 1 1) into 1 38.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.412 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) R) into (* (pow (sin (/ -0.5 phi2)) 2) R) 38.413 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) into (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) 38.413 * [backup-simplify]: Simplify (* 1 (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) into (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 38.414 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) 38.415 * [backup-simplify]: Simplify (* 1 1) into 1 38.415 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.415 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.415 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.415 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.415 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.416 * [backup-simplify]: Simplify (- 0) into 0 38.416 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.416 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) R) into (* (cos (/ -0.5 phi1)) R) 38.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) into (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 38.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 38.417 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 38.417 * [backup-simplify]: Simplify (* 1 (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) 38.418 * [backup-simplify]: Simplify (* 1 1) into 1 38.418 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.418 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.418 * [backup-simplify]: Simplify (- 0) into 0 38.419 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.419 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.419 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.419 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.419 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) R) into (* (sin (/ -0.5 phi1)) R) 38.419 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) into (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 38.419 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 38.420 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 38.420 * [backup-simplify]: Simplify (* 1 (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 38.421 * [backup-simplify]: Simplify (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (+ (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 38.422 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))))) 38.425 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (- (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))))) into (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))) 38.428 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 38.428 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 38.428 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 38.428 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 38.428 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 38.428 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.428 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.428 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.428 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.429 * [backup-simplify]: Simplify -0.5 into -0.5 38.429 * [taylor]: Taking taylor expansion of phi2 in phi2 38.429 * [backup-simplify]: Simplify 0 into 0 38.429 * [backup-simplify]: Simplify 1 into 1 38.429 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.430 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.430 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.430 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.430 * [backup-simplify]: Simplify -0.5 into -0.5 38.430 * [taylor]: Taking taylor expansion of phi1 in phi2 38.430 * [backup-simplify]: Simplify phi1 into phi1 38.430 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.430 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.430 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.431 * [backup-simplify]: Simplify (- 0) into 0 38.431 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.431 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 38.431 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.431 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.431 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.431 * [backup-simplify]: Simplify -0.5 into -0.5 38.431 * [taylor]: Taking taylor expansion of phi2 in phi2 38.431 * [backup-simplify]: Simplify 0 into 0 38.431 * [backup-simplify]: Simplify 1 into 1 38.432 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.432 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.432 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.432 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.432 * [backup-simplify]: Simplify -0.5 into -0.5 38.432 * [taylor]: Taking taylor expansion of phi1 in phi2 38.432 * [backup-simplify]: Simplify phi1 into phi1 38.432 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.433 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.433 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 38.433 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 38.433 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.433 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.433 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.433 * [backup-simplify]: Simplify -0.5 into -0.5 38.433 * [taylor]: Taking taylor expansion of phi1 in phi2 38.433 * [backup-simplify]: Simplify phi1 into phi1 38.433 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.433 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.433 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.433 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 38.433 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.433 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.433 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.433 * [backup-simplify]: Simplify -0.5 into -0.5 38.433 * [taylor]: Taking taylor expansion of phi2 in phi2 38.433 * [backup-simplify]: Simplify 0 into 0 38.433 * [backup-simplify]: Simplify 1 into 1 38.434 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.434 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.434 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 38.434 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.434 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.434 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.434 * [backup-simplify]: Simplify -0.5 into -0.5 38.434 * [taylor]: Taking taylor expansion of phi2 in phi2 38.434 * [backup-simplify]: Simplify 0 into 0 38.434 * [backup-simplify]: Simplify 1 into 1 38.435 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.435 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.435 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.435 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.435 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.435 * [backup-simplify]: Simplify -0.5 into -0.5 38.435 * [taylor]: Taking taylor expansion of phi1 in phi2 38.435 * [backup-simplify]: Simplify phi1 into phi1 38.435 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.435 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.435 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.435 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 38.435 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.435 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.436 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.436 * [backup-simplify]: Simplify -0.5 into -0.5 38.436 * [taylor]: Taking taylor expansion of phi1 in phi2 38.436 * [backup-simplify]: Simplify phi1 into phi1 38.436 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.436 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.436 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.436 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 38.436 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.436 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.436 * [backup-simplify]: Simplify -0.5 into -0.5 38.436 * [taylor]: Taking taylor expansion of phi2 in phi2 38.436 * [backup-simplify]: Simplify 0 into 0 38.436 * [backup-simplify]: Simplify 1 into 1 38.437 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.437 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 38.437 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.437 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.438 * [backup-simplify]: Simplify -0.5 into -0.5 38.438 * [taylor]: Taking taylor expansion of phi2 in phi2 38.438 * [backup-simplify]: Simplify 0 into 0 38.438 * [backup-simplify]: Simplify 1 into 1 38.438 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.439 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.439 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.439 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.439 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.439 * [backup-simplify]: Simplify -0.5 into -0.5 38.439 * [taylor]: Taking taylor expansion of phi1 in phi2 38.439 * [backup-simplify]: Simplify phi1 into phi1 38.439 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.439 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.439 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.440 * [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)) 38.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.441 * [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)) 38.442 * [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))) 38.442 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.442 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.443 * [backup-simplify]: Simplify (- 0) into 0 38.443 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.443 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 38.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 38.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 38.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.444 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.445 * [backup-simplify]: Simplify (- 0) into 0 38.445 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 38.446 * [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)))) 38.446 * [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))))) 38.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 38.448 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 38.450 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 38.452 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 38.455 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) 38.455 * [backup-simplify]: Simplify (+ 0) into 0 38.456 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.456 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.458 * [backup-simplify]: Simplify (- 0) into 0 38.458 * [backup-simplify]: Simplify (+ 0 0) into 0 38.459 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.459 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.459 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 38.460 * [backup-simplify]: Simplify (+ 0) into 0 38.460 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.460 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.461 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.462 * [backup-simplify]: Simplify (+ 0 0) into 0 38.462 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.463 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.463 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 38.464 * [backup-simplify]: Simplify (+ 0 0) into 0 38.464 * [backup-simplify]: Simplify (+ 0) into 0 38.464 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.465 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.466 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.466 * [backup-simplify]: Simplify (+ 0 0) into 0 38.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 38.467 * [backup-simplify]: Simplify (+ 0) into 0 38.468 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.468 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.469 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.470 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.470 * [backup-simplify]: Simplify (- 0) into 0 38.470 * [backup-simplify]: Simplify (+ 0 0) into 0 38.471 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 38.471 * [backup-simplify]: Simplify (+ 0) into 0 38.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.472 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.473 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.474 * [backup-simplify]: Simplify (- 0) into 0 38.474 * [backup-simplify]: Simplify (+ 0 0) into 0 38.474 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.475 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 38.475 * [backup-simplify]: Simplify (+ 0) into 0 38.476 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.476 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.477 * [backup-simplify]: Simplify (+ 0 0) into 0 38.478 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 38.478 * [backup-simplify]: Simplify (+ 0 0) into 0 38.479 * [backup-simplify]: Simplify (- 0) into 0 38.479 * [backup-simplify]: Simplify (+ 0 0) into 0 38.483 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 38.486 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 38.486 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) in phi2 38.486 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi2 38.486 * [taylor]: Taking taylor expansion of 2 in phi2 38.486 * [backup-simplify]: Simplify 2 into 2 38.486 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi2 38.486 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi2 38.486 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 38.486 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.486 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.486 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.486 * [backup-simplify]: Simplify -0.5 into -0.5 38.486 * [taylor]: Taking taylor expansion of phi1 in phi2 38.486 * [backup-simplify]: Simplify phi1 into phi1 38.487 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.487 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.487 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.487 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 38.487 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.487 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.487 * [backup-simplify]: Simplify -0.5 into -0.5 38.487 * [taylor]: Taking taylor expansion of phi2 in phi2 38.487 * [backup-simplify]: Simplify 0 into 0 38.487 * [backup-simplify]: Simplify 1 into 1 38.488 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.488 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.488 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 38.488 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.488 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.488 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.488 * [backup-simplify]: Simplify -0.5 into -0.5 38.488 * [taylor]: Taking taylor expansion of phi2 in phi2 38.488 * [backup-simplify]: Simplify 0 into 0 38.488 * [backup-simplify]: Simplify 1 into 1 38.489 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.489 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.489 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.489 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.489 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.489 * [backup-simplify]: Simplify -0.5 into -0.5 38.489 * [taylor]: Taking taylor expansion of phi1 in phi2 38.489 * [backup-simplify]: Simplify phi1 into phi1 38.489 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.489 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.489 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.489 * [taylor]: Taking taylor expansion of (- (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2 38.489 * [taylor]: Taking taylor expansion of (+ (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))))) in phi2 38.489 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) in phi2 38.489 * [taylor]: Taking taylor expansion of phi2 in phi2 38.489 * [backup-simplify]: Simplify 0 into 0 38.489 * [backup-simplify]: Simplify 1 into 1 38.489 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) in phi2 38.489 * [taylor]: Taking taylor expansion of R in phi2 38.489 * [backup-simplify]: Simplify R into R 38.489 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)) in phi2 38.489 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.489 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.489 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.490 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.490 * [backup-simplify]: Simplify -0.5 into -0.5 38.490 * [taylor]: Taking taylor expansion of phi1 in phi2 38.490 * [backup-simplify]: Simplify phi1 into phi1 38.490 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.490 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.490 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.490 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.490 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.490 * [backup-simplify]: Simplify (- 0) into 0 38.491 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.491 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) phi1) in phi2 38.491 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.491 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.491 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.491 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.491 * [backup-simplify]: Simplify -0.5 into -0.5 38.491 * [taylor]: Taking taylor expansion of phi2 in phi2 38.491 * [backup-simplify]: Simplify 0 into 0 38.491 * [backup-simplify]: Simplify 1 into 1 38.491 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.491 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.492 * [taylor]: Taking taylor expansion of phi1 in phi2 38.492 * [backup-simplify]: Simplify phi1 into phi1 38.492 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) in phi2 38.492 * [taylor]: Taking taylor expansion of phi2 in phi2 38.492 * [backup-simplify]: Simplify 0 into 0 38.492 * [backup-simplify]: Simplify 1 into 1 38.492 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))) in phi2 38.492 * [taylor]: Taking taylor expansion of R in phi2 38.492 * [backup-simplify]: Simplify R into R 38.492 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)) in phi2 38.492 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.492 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.492 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.492 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.492 * [backup-simplify]: Simplify -0.5 into -0.5 38.492 * [taylor]: Taking taylor expansion of phi1 in phi2 38.492 * [backup-simplify]: Simplify phi1 into phi1 38.492 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.492 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.492 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.492 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.493 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.493 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.493 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) phi1) in phi2 38.493 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.493 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.493 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.493 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.493 * [backup-simplify]: Simplify -0.5 into -0.5 38.493 * [taylor]: Taking taylor expansion of phi2 in phi2 38.493 * [backup-simplify]: Simplify 0 into 0 38.493 * [backup-simplify]: Simplify 1 into 1 38.493 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.494 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.494 * [taylor]: Taking taylor expansion of phi1 in phi2 38.494 * [backup-simplify]: Simplify phi1 into phi1 38.494 * [taylor]: Taking taylor expansion of (+ (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2 38.494 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2 38.494 * [taylor]: Taking taylor expansion of phi2 in phi2 38.494 * [backup-simplify]: Simplify 0 into 0 38.494 * [backup-simplify]: Simplify 1 into 1 38.494 * [taylor]: Taking taylor expansion of (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2 38.494 * [taylor]: Taking taylor expansion of R in phi2 38.494 * [backup-simplify]: Simplify R into R 38.494 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2 38.494 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.494 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.494 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.494 * [backup-simplify]: Simplify -0.5 into -0.5 38.494 * [taylor]: Taking taylor expansion of phi2 in phi2 38.494 * [backup-simplify]: Simplify 0 into 0 38.494 * [backup-simplify]: Simplify 1 into 1 38.495 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.495 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.495 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2 38.495 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.495 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.495 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.495 * [backup-simplify]: Simplify -0.5 into -0.5 38.495 * [taylor]: Taking taylor expansion of phi2 in phi2 38.495 * [backup-simplify]: Simplify 0 into 0 38.495 * [backup-simplify]: Simplify 1 into 1 38.496 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.496 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.496 * [taylor]: Taking taylor expansion of (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2 38.496 * [taylor]: Taking taylor expansion of phi1 in phi2 38.496 * [backup-simplify]: Simplify phi1 into phi1 38.496 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2 38.496 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.496 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.496 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.496 * [backup-simplify]: Simplify -0.5 into -0.5 38.496 * [taylor]: Taking taylor expansion of phi1 in phi2 38.496 * [backup-simplify]: Simplify phi1 into phi1 38.496 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.496 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.496 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.496 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.496 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.496 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.496 * [backup-simplify]: Simplify -0.5 into -0.5 38.496 * [taylor]: Taking taylor expansion of phi1 in phi2 38.496 * [backup-simplify]: Simplify phi1 into phi1 38.496 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.496 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.497 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.497 * [taylor]: Taking taylor expansion of (* phi2 (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2 38.497 * [taylor]: Taking taylor expansion of phi2 in phi2 38.497 * [backup-simplify]: Simplify 0 into 0 38.497 * [backup-simplify]: Simplify 1 into 1 38.497 * [taylor]: Taking taylor expansion of (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2 38.497 * [taylor]: Taking taylor expansion of R in phi2 38.497 * [backup-simplify]: Simplify R into R 38.497 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2 38.497 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.497 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.497 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.497 * [backup-simplify]: Simplify -0.5 into -0.5 38.497 * [taylor]: Taking taylor expansion of phi2 in phi2 38.497 * [backup-simplify]: Simplify 0 into 0 38.497 * [backup-simplify]: Simplify 1 into 1 38.497 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.498 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.498 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2 38.498 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.498 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.498 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.498 * [backup-simplify]: Simplify -0.5 into -0.5 38.498 * [taylor]: Taking taylor expansion of phi2 in phi2 38.498 * [backup-simplify]: Simplify 0 into 0 38.498 * [backup-simplify]: Simplify 1 into 1 38.498 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.498 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.498 * [taylor]: Taking taylor expansion of (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2 38.498 * [taylor]: Taking taylor expansion of phi1 in phi2 38.498 * [backup-simplify]: Simplify phi1 into phi1 38.499 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2 38.499 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.499 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.499 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.499 * [backup-simplify]: Simplify -0.5 into -0.5 38.499 * [taylor]: Taking taylor expansion of phi1 in phi2 38.499 * [backup-simplify]: Simplify phi1 into phi1 38.499 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.499 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.499 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.499 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.499 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.499 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.499 * [backup-simplify]: Simplify -0.5 into -0.5 38.499 * [taylor]: Taking taylor expansion of phi1 in phi2 38.499 * [backup-simplify]: Simplify phi1 into phi1 38.499 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.499 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.499 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.500 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.500 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.508 * [backup-simplify]: Simplify (- 0) into 0 38.509 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.509 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.509 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.509 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.509 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 38.509 * [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)))) 38.509 * [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))))) 38.509 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.510 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.510 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) phi1) into (* (pow (cos (/ -0.5 phi2)) 2) phi1) 38.510 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)) into (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) 38.510 * [backup-simplify]: Simplify (* R (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) into (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) 38.511 * [backup-simplify]: Simplify (* 0 (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) into 0 38.511 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.511 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.511 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) phi1) into (* (pow (sin (/ -0.5 phi2)) 2) phi1) 38.511 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)) into (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) 38.511 * [backup-simplify]: Simplify (* R (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) into (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) 38.512 * [backup-simplify]: Simplify (* 0 (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)))) into 0 38.512 * [backup-simplify]: Simplify (+ 0 0) into 0 38.512 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.512 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.512 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.512 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.513 * [backup-simplify]: Simplify (- 0) into 0 38.513 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 38.513 * [backup-simplify]: Simplify (* phi1 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) phi1)) 38.513 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) phi1))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))) 38.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1)))) into (* phi1 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 38.514 * [backup-simplify]: Simplify (* R (* phi1 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))) 38.514 * [backup-simplify]: Simplify (* 0 (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))))) into 0 38.514 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.514 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.514 * [backup-simplify]: Simplify (- 0) into 0 38.514 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.515 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.515 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.515 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.515 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 38.515 * [backup-simplify]: Simplify (* phi1 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) phi1)) 38.515 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) phi1))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))) 38.515 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1)))) into (* phi1 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 38.515 * [backup-simplify]: Simplify (* R (* phi1 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R))))) 38.516 * [backup-simplify]: Simplify (* 0 (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))))) into 0 38.516 * [backup-simplify]: Simplify (+ 0 0) into 0 38.516 * [backup-simplify]: Simplify (- 0) into 0 38.517 * [backup-simplify]: Simplify (+ 0 0) into 0 38.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.517 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 phi1)) into 0 38.517 * [backup-simplify]: Simplify (+ 0) into 0 38.518 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.519 * [backup-simplify]: Simplify (- 0) into 0 38.519 * [backup-simplify]: Simplify (+ 0 0) into 0 38.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.519 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) phi1))) into 0 38.520 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))))) into 0 38.520 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))))) into (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) phi1))) 38.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.521 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 phi1)) into 0 38.521 * [backup-simplify]: Simplify (+ 0) into 0 38.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.521 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.522 * [backup-simplify]: Simplify (+ 0 0) into 0 38.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.523 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) phi1))) into 0 38.523 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))))) into 0 38.524 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))))) into (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) phi1))) 38.524 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) phi1))) (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) phi1)))) into (+ (* (pow (sin (/ -0.5 phi1)) 2) (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) R))) (* (pow (cos (/ -0.5 phi1)) 2) (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) R)))) 38.525 * [backup-simplify]: Simplify (+ 0) into 0 38.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.525 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.526 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.526 * [backup-simplify]: Simplify (- 0) into 0 38.526 * [backup-simplify]: Simplify (+ 0 0) into 0 38.527 * [backup-simplify]: Simplify (+ 0) into 0 38.527 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.527 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.528 * [backup-simplify]: Simplify (+ 0 0) into 0 38.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.528 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 38.529 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) phi1)))) into 0 38.529 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) into 0 38.529 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into 0 38.530 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ -0.5 phi1)) (* phi1 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))))) into (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) 38.530 * [backup-simplify]: Simplify (+ 0) into 0 38.530 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.530 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.531 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.532 * [backup-simplify]: Simplify (+ 0 0) into 0 38.532 * [backup-simplify]: Simplify (+ 0) into 0 38.532 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.532 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.533 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.533 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.533 * [backup-simplify]: Simplify (- 0) into 0 38.534 * [backup-simplify]: Simplify (+ 0 0) into 0 38.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.534 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 38.534 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) phi1)))) into 0 38.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))))) into 0 38.534 * [backup-simplify]: Simplify (+ (* R 0) (* 0 (* phi1 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into 0 38.535 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (/ -0.5 phi1)) (* phi1 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R))))))) into (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))) 38.536 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1)))))) 38.537 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1))))))) 38.539 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ -0.5 phi1)) 2) (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) R))) (* (pow (cos (/ -0.5 phi1)) 2) (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) R)))) (- (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) phi1))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) phi1)))))))) into (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))) 38.543 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) 38.543 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 38.543 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 38.543 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 38.543 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 38.543 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.543 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.543 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.543 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.543 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.543 * [backup-simplify]: Simplify -0.5 into -0.5 38.543 * [taylor]: Taking taylor expansion of phi2 in phi2 38.543 * [backup-simplify]: Simplify 0 into 0 38.543 * [backup-simplify]: Simplify 1 into 1 38.544 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.544 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.544 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.544 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.544 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.544 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.544 * [backup-simplify]: Simplify -0.5 into -0.5 38.544 * [taylor]: Taking taylor expansion of phi1 in phi2 38.544 * [backup-simplify]: Simplify phi1 into phi1 38.544 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.545 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.545 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.545 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.545 * [backup-simplify]: Simplify (- 0) into 0 38.545 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.545 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 38.546 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.546 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.546 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.546 * [backup-simplify]: Simplify -0.5 into -0.5 38.546 * [taylor]: Taking taylor expansion of phi2 in phi2 38.546 * [backup-simplify]: Simplify 0 into 0 38.546 * [backup-simplify]: Simplify 1 into 1 38.546 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.546 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.546 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.546 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.546 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.547 * [backup-simplify]: Simplify -0.5 into -0.5 38.547 * [taylor]: Taking taylor expansion of phi1 in phi2 38.547 * [backup-simplify]: Simplify phi1 into phi1 38.547 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.547 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.547 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.547 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.547 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.547 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.547 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 38.547 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 38.547 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.547 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.547 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.547 * [backup-simplify]: Simplify -0.5 into -0.5 38.547 * [taylor]: Taking taylor expansion of phi2 in phi2 38.547 * [backup-simplify]: Simplify 0 into 0 38.547 * [backup-simplify]: Simplify 1 into 1 38.548 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.548 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.548 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 38.548 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.548 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.548 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.548 * [backup-simplify]: Simplify -0.5 into -0.5 38.548 * [taylor]: Taking taylor expansion of phi1 in phi2 38.548 * [backup-simplify]: Simplify phi1 into phi1 38.548 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.548 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.549 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.549 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 38.549 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.549 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.549 * [backup-simplify]: Simplify -0.5 into -0.5 38.549 * [taylor]: Taking taylor expansion of phi2 in phi2 38.549 * [backup-simplify]: Simplify 0 into 0 38.549 * [backup-simplify]: Simplify 1 into 1 38.549 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.549 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.549 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.549 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.549 * [backup-simplify]: Simplify -0.5 into -0.5 38.550 * [taylor]: Taking taylor expansion of phi1 in phi2 38.550 * [backup-simplify]: Simplify phi1 into phi1 38.550 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.550 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.550 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.550 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 38.550 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.550 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.550 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.550 * [backup-simplify]: Simplify -0.5 into -0.5 38.550 * [taylor]: Taking taylor expansion of phi2 in phi2 38.550 * [backup-simplify]: Simplify 0 into 0 38.550 * [backup-simplify]: Simplify 1 into 1 38.551 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.551 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.551 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 38.551 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.551 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.551 * [backup-simplify]: Simplify -0.5 into -0.5 38.551 * [taylor]: Taking taylor expansion of phi1 in phi2 38.551 * [backup-simplify]: Simplify phi1 into phi1 38.551 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.551 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.551 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 38.551 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.551 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.551 * [backup-simplify]: Simplify -0.5 into -0.5 38.551 * [taylor]: Taking taylor expansion of phi2 in phi2 38.551 * [backup-simplify]: Simplify 0 into 0 38.551 * [backup-simplify]: Simplify 1 into 1 38.552 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.552 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.552 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.552 * [backup-simplify]: Simplify -0.5 into -0.5 38.552 * [taylor]: Taking taylor expansion of phi1 in phi2 38.552 * [backup-simplify]: Simplify phi1 into phi1 38.552 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.553 * [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)) 38.553 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.554 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.554 * [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)) 38.555 * [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))) 38.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.556 * [backup-simplify]: Simplify (- 0) into 0 38.556 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.556 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 38.556 * [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)))) 38.557 * [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))))) 38.557 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.557 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.557 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.558 * [backup-simplify]: Simplify (- 0) into 0 38.558 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.558 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 38.558 * [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)))) 38.559 * [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))))) 38.559 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 38.560 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 38.562 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 38.565 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 38.567 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 38.567 * [backup-simplify]: Simplify (+ 0) into 0 38.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.568 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.570 * [backup-simplify]: Simplify (- 0) into 0 38.570 * [backup-simplify]: Simplify (+ 0 0) into 0 38.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.571 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 38.571 * [backup-simplify]: Simplify (+ 0) into 0 38.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.572 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.574 * [backup-simplify]: Simplify (+ 0 0) into 0 38.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.575 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 38.575 * [backup-simplify]: Simplify (+ 0 0) into 0 38.576 * [backup-simplify]: Simplify (+ 0) into 0 38.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.576 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.578 * [backup-simplify]: Simplify (+ 0 0) into 0 38.578 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.578 * [backup-simplify]: Simplify (+ 0) into 0 38.579 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.579 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.580 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.581 * [backup-simplify]: Simplify (- 0) into 0 38.581 * [backup-simplify]: Simplify (+ 0 0) into 0 38.582 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 38.582 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 38.582 * [backup-simplify]: Simplify (+ 0) into 0 38.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.585 * [backup-simplify]: Simplify (- 0) into 0 38.585 * [backup-simplify]: Simplify (+ 0 0) into 0 38.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.585 * [backup-simplify]: Simplify (+ 0) into 0 38.586 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.586 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.588 * [backup-simplify]: Simplify (+ 0 0) into 0 38.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 38.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 38.589 * [backup-simplify]: Simplify (+ 0 0) into 0 38.589 * [backup-simplify]: Simplify (- 0) into 0 38.589 * [backup-simplify]: Simplify (+ 0 0) into 0 38.594 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 38.596 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 38.596 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) in phi2 38.596 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) in phi2 38.596 * [taylor]: Taking taylor expansion of 1/2 in phi2 38.596 * [backup-simplify]: Simplify 1/2 into 1/2 38.596 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))))) in phi2 38.596 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 38.597 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 38.597 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 38.597 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 38.597 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.597 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.597 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.597 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.597 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.597 * [backup-simplify]: Simplify -0.5 into -0.5 38.597 * [taylor]: Taking taylor expansion of phi2 in phi2 38.597 * [backup-simplify]: Simplify 0 into 0 38.597 * [backup-simplify]: Simplify 1 into 1 38.598 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.598 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.598 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.598 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.598 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.598 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.598 * [backup-simplify]: Simplify -0.5 into -0.5 38.598 * [taylor]: Taking taylor expansion of phi1 in phi2 38.598 * [backup-simplify]: Simplify phi1 into phi1 38.598 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.598 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.598 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.598 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.598 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.599 * [backup-simplify]: Simplify (- 0) into 0 38.599 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.599 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 38.599 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.599 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.599 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.599 * [backup-simplify]: Simplify -0.5 into -0.5 38.599 * [taylor]: Taking taylor expansion of phi2 in phi2 38.599 * [backup-simplify]: Simplify 0 into 0 38.599 * [backup-simplify]: Simplify 1 into 1 38.600 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.600 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.600 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.600 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.600 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.600 * [backup-simplify]: Simplify -0.5 into -0.5 38.600 * [taylor]: Taking taylor expansion of phi1 in phi2 38.600 * [backup-simplify]: Simplify phi1 into phi1 38.600 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.600 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.600 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.600 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.601 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.601 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 38.601 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 38.601 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.601 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.601 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.601 * [backup-simplify]: Simplify -0.5 into -0.5 38.601 * [taylor]: Taking taylor expansion of phi1 in phi2 38.601 * [backup-simplify]: Simplify phi1 into phi1 38.601 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.601 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.601 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.601 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 38.601 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.601 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.601 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.601 * [backup-simplify]: Simplify -0.5 into -0.5 38.601 * [taylor]: Taking taylor expansion of phi2 in phi2 38.601 * [backup-simplify]: Simplify 0 into 0 38.601 * [backup-simplify]: Simplify 1 into 1 38.602 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.602 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.602 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 38.602 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.602 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.602 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.602 * [backup-simplify]: Simplify -0.5 into -0.5 38.602 * [taylor]: Taking taylor expansion of phi2 in phi2 38.602 * [backup-simplify]: Simplify 0 into 0 38.602 * [backup-simplify]: Simplify 1 into 1 38.603 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.603 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.603 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.603 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.603 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.603 * [backup-simplify]: Simplify -0.5 into -0.5 38.603 * [taylor]: Taking taylor expansion of phi1 in phi2 38.603 * [backup-simplify]: Simplify phi1 into phi1 38.603 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.603 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.603 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.603 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 38.603 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.603 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.603 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.603 * [backup-simplify]: Simplify -0.5 into -0.5 38.604 * [taylor]: Taking taylor expansion of phi1 in phi2 38.604 * [backup-simplify]: Simplify phi1 into phi1 38.604 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.604 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.604 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.604 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 38.604 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.604 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.604 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.604 * [backup-simplify]: Simplify -0.5 into -0.5 38.604 * [taylor]: Taking taylor expansion of phi2 in phi2 38.604 * [backup-simplify]: Simplify 0 into 0 38.604 * [backup-simplify]: Simplify 1 into 1 38.605 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.605 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.605 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 38.605 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.605 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.605 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.605 * [backup-simplify]: Simplify -0.5 into -0.5 38.605 * [taylor]: Taking taylor expansion of phi2 in phi2 38.605 * [backup-simplify]: Simplify 0 into 0 38.605 * [backup-simplify]: Simplify 1 into 1 38.605 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.605 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.606 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.606 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.606 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.606 * [backup-simplify]: Simplify -0.5 into -0.5 38.606 * [taylor]: Taking taylor expansion of phi1 in phi2 38.606 * [backup-simplify]: Simplify phi1 into phi1 38.606 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.606 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.606 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.606 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.606 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.607 * [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)) 38.607 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.607 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.607 * [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)) 38.608 * [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))) 38.608 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.608 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.609 * [backup-simplify]: Simplify (- 0) into 0 38.609 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.609 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.609 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.609 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.609 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 38.609 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 38.609 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 38.609 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.609 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.609 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.610 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.610 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.610 * [backup-simplify]: Simplify (- 0) into 0 38.610 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.610 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 38.610 * [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)))) 38.610 * [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))))) 38.611 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 38.611 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 38.612 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 38.614 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 38.615 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) 38.615 * [backup-simplify]: Simplify (+ 0) into 0 38.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.616 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.616 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.616 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.617 * [backup-simplify]: Simplify (- 0) into 0 38.617 * [backup-simplify]: Simplify (+ 0 0) into 0 38.617 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.617 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.617 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 38.618 * [backup-simplify]: Simplify (+ 0) into 0 38.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.618 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.619 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.619 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.619 * [backup-simplify]: Simplify (+ 0 0) into 0 38.619 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.619 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.620 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 38.620 * [backup-simplify]: Simplify (+ 0 0) into 0 38.620 * [backup-simplify]: Simplify (+ 0) into 0 38.621 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.621 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.621 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.622 * [backup-simplify]: Simplify (+ 0 0) into 0 38.622 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.622 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 38.622 * [backup-simplify]: Simplify (+ 0) into 0 38.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.623 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.623 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.624 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.624 * [backup-simplify]: Simplify (- 0) into 0 38.624 * [backup-simplify]: Simplify (+ 0 0) into 0 38.624 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 38.625 * [backup-simplify]: Simplify (+ 0) into 0 38.625 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.625 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.626 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.626 * [backup-simplify]: Simplify (- 0) into 0 38.626 * [backup-simplify]: Simplify (+ 0 0) into 0 38.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 38.627 * [backup-simplify]: Simplify (+ 0) into 0 38.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.627 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.628 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.628 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.628 * [backup-simplify]: Simplify (+ 0 0) into 0 38.629 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 38.629 * [backup-simplify]: Simplify (+ 0 0) into 0 38.629 * [backup-simplify]: Simplify (- 0) into 0 38.629 * [backup-simplify]: Simplify (+ 0 0) into 0 38.631 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 38.633 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 38.633 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))) in phi2 38.633 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 38.633 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.633 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.633 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.633 * [backup-simplify]: Simplify -0.5 into -0.5 38.633 * [taylor]: Taking taylor expansion of phi2 in phi2 38.633 * [backup-simplify]: Simplify 0 into 0 38.633 * [backup-simplify]: Simplify 1 into 1 38.633 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.633 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.633 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.633 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.633 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.633 * [backup-simplify]: Simplify -0.5 into -0.5 38.633 * [taylor]: Taking taylor expansion of phi1 in phi2 38.633 * [backup-simplify]: Simplify phi1 into phi1 38.633 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.633 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.634 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.634 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.634 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.634 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.634 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) in phi2 38.634 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))))) in phi2 38.634 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)))) in phi2 38.634 * [taylor]: Taking taylor expansion of R in phi2 38.634 * [backup-simplify]: Simplify R into R 38.634 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2))) in phi2 38.634 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.634 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.634 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.634 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.634 * [backup-simplify]: Simplify -0.5 into -0.5 38.634 * [taylor]: Taking taylor expansion of phi2 in phi2 38.634 * [backup-simplify]: Simplify 0 into 0 38.634 * [backup-simplify]: Simplify 1 into 1 38.634 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.634 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.634 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)) in phi2 38.634 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.634 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.634 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.634 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.635 * [backup-simplify]: Simplify -0.5 into -0.5 38.635 * [taylor]: Taking taylor expansion of phi1 in phi2 38.635 * [backup-simplify]: Simplify phi1 into phi1 38.635 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.635 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.635 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.635 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.635 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.635 * [backup-simplify]: Simplify (- 0) into 0 38.635 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.635 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.635 * [taylor]: Taking taylor expansion of phi1 in phi2 38.635 * [backup-simplify]: Simplify phi1 into phi1 38.635 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)))) in phi2 38.635 * [taylor]: Taking taylor expansion of R in phi2 38.635 * [backup-simplify]: Simplify R into R 38.635 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))) in phi2 38.635 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.635 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.635 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.635 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.635 * [backup-simplify]: Simplify -0.5 into -0.5 38.635 * [taylor]: Taking taylor expansion of phi2 in phi2 38.635 * [backup-simplify]: Simplify 0 into 0 38.635 * [backup-simplify]: Simplify 1 into 1 38.636 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.636 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.636 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)) in phi2 38.636 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.636 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.636 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.636 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.636 * [backup-simplify]: Simplify -0.5 into -0.5 38.636 * [taylor]: Taking taylor expansion of phi1 in phi2 38.636 * [backup-simplify]: Simplify phi1 into phi1 38.636 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.636 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.636 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.636 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.636 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.637 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.637 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.637 * [taylor]: Taking taylor expansion of phi1 in phi2 38.637 * [backup-simplify]: Simplify phi1 into phi1 38.637 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))) in phi2 38.637 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))))) in phi2 38.637 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.637 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.637 * [backup-simplify]: Simplify -0.5 into -0.5 38.637 * [taylor]: Taking taylor expansion of phi1 in phi2 38.637 * [backup-simplify]: Simplify phi1 into phi1 38.637 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.637 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.637 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.637 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) in phi2 38.637 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.637 * [taylor]: Taking taylor expansion of phi1 in phi2 38.637 * [backup-simplify]: Simplify phi1 into phi1 38.637 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R))) in phi2 38.637 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.638 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.638 * [backup-simplify]: Simplify -0.5 into -0.5 38.638 * [taylor]: Taking taylor expansion of phi2 in phi2 38.638 * [backup-simplify]: Simplify 0 into 0 38.638 * [backup-simplify]: Simplify 1 into 1 38.638 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.638 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.638 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) in phi2 38.638 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.638 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.638 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.638 * [backup-simplify]: Simplify -0.5 into -0.5 38.638 * [taylor]: Taking taylor expansion of phi2 in phi2 38.638 * [backup-simplify]: Simplify 0 into 0 38.639 * [backup-simplify]: Simplify 1 into 1 38.639 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.639 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.639 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) R) in phi2 38.639 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.639 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.639 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.639 * [backup-simplify]: Simplify -0.5 into -0.5 38.639 * [taylor]: Taking taylor expansion of phi1 in phi2 38.639 * [backup-simplify]: Simplify phi1 into phi1 38.639 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.639 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.640 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.640 * [taylor]: Taking taylor expansion of R in phi2 38.640 * [backup-simplify]: Simplify R into R 38.640 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))) in phi2 38.640 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.640 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.640 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.640 * [backup-simplify]: Simplify -0.5 into -0.5 38.640 * [taylor]: Taking taylor expansion of phi1 in phi2 38.640 * [backup-simplify]: Simplify phi1 into phi1 38.640 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.640 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.640 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.640 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))) in phi2 38.640 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 38.640 * [taylor]: Taking taylor expansion of phi1 in phi2 38.640 * [backup-simplify]: Simplify phi1 into phi1 38.640 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))) in phi2 38.640 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.640 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.640 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.640 * [backup-simplify]: Simplify -0.5 into -0.5 38.640 * [taylor]: Taking taylor expansion of phi2 in phi2 38.641 * [backup-simplify]: Simplify 0 into 0 38.641 * [backup-simplify]: Simplify 1 into 1 38.641 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.641 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.641 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) in phi2 38.641 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.641 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.641 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.641 * [backup-simplify]: Simplify -0.5 into -0.5 38.641 * [taylor]: Taking taylor expansion of phi2 in phi2 38.641 * [backup-simplify]: Simplify 0 into 0 38.641 * [backup-simplify]: Simplify 1 into 1 38.642 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.642 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.642 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) R) in phi2 38.642 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.642 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.642 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.642 * [backup-simplify]: Simplify -0.5 into -0.5 38.642 * [taylor]: Taking taylor expansion of phi1 in phi2 38.642 * [backup-simplify]: Simplify phi1 into phi1 38.642 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.642 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.642 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.642 * [taylor]: Taking taylor expansion of R in phi2 38.643 * [backup-simplify]: Simplify R into R 38.643 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.643 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.643 * [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)) 38.644 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.644 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.644 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.644 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2)) 38.645 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2))) into (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) 38.645 * [backup-simplify]: Simplify (* R (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) into (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) 38.645 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.645 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.646 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.646 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)) into (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)) 38.646 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2))) into (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 38.647 * [backup-simplify]: Simplify (* R (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) 38.648 * [backup-simplify]: Simplify (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) into (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2))))) 38.648 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.648 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.649 * [backup-simplify]: Simplify (- 0) into 0 38.649 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.649 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.649 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.649 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.650 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.650 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) R) into (* (sin (/ -0.5 phi1)) R) 38.650 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)) into (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 38.650 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 38.651 * [backup-simplify]: Simplify (* (pow phi1 2) (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2))))) 38.651 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) into (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) 38.651 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.651 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.652 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.652 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 38.652 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.652 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.660 * [backup-simplify]: Simplify (- 0) into 0 38.661 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.661 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) R) into (* (cos (/ -0.5 phi1)) R) 38.661 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)) into (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 38.662 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 38.662 * [backup-simplify]: Simplify (* (pow phi1 2) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))) 38.663 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) into (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) 38.665 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))) (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2))))))) into (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))) 38.667 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) 38.670 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow phi1 2)))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow phi1 2))))) (- (+ (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) into (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2)))))))) 38.674 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow phi1 2)))) (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow phi1 2))))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow phi1 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* (pow phi1 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (pow phi1 2)))))) (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (pow phi1 2))))))))) 38.674 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi2 38.674 * [taylor]: Taking taylor expansion of 1/2 in phi2 38.674 * [backup-simplify]: Simplify 1/2 into 1/2 38.674 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi2 38.674 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))))) in phi2 38.674 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.674 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.675 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.675 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.675 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.675 * [backup-simplify]: Simplify -0.5 into -0.5 38.675 * [taylor]: Taking taylor expansion of phi2 in phi2 38.675 * [backup-simplify]: Simplify 0 into 0 38.675 * [backup-simplify]: Simplify 1 into 1 38.676 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.676 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.676 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.676 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.676 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.676 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.676 * [backup-simplify]: Simplify -0.5 into -0.5 38.676 * [taylor]: Taking taylor expansion of phi1 in phi2 38.676 * [backup-simplify]: Simplify phi1 into phi1 38.676 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.676 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.676 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.676 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.676 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.677 * [backup-simplify]: Simplify (- 0) into 0 38.677 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.677 * [taylor]: Taking taylor expansion of (- (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R))))))) in phi2 38.677 * [taylor]: Taking taylor expansion of (+ (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)))) in phi2 38.677 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) in phi2 38.677 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.677 * [taylor]: Taking taylor expansion of phi2 in phi2 38.677 * [backup-simplify]: Simplify 0 into 0 38.677 * [backup-simplify]: Simplify 1 into 1 38.677 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)) in phi2 38.678 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.678 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.678 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.678 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.678 * [backup-simplify]: Simplify -0.5 into -0.5 38.678 * [taylor]: Taking taylor expansion of phi2 in phi2 38.678 * [backup-simplify]: Simplify 0 into 0 38.678 * [backup-simplify]: Simplify 1 into 1 38.678 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.678 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.678 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) R) in phi2 38.679 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.679 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.679 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.679 * [backup-simplify]: Simplify -0.5 into -0.5 38.679 * [taylor]: Taking taylor expansion of phi1 in phi2 38.679 * [backup-simplify]: Simplify phi1 into phi1 38.679 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.679 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.679 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.679 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.679 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.679 * [taylor]: Taking taylor expansion of R in phi2 38.679 * [backup-simplify]: Simplify R into R 38.679 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) in phi2 38.679 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.680 * [taylor]: Taking taylor expansion of phi2 in phi2 38.680 * [backup-simplify]: Simplify 0 into 0 38.680 * [backup-simplify]: Simplify 1 into 1 38.680 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) in phi2 38.680 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.680 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.680 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.680 * [backup-simplify]: Simplify -0.5 into -0.5 38.680 * [taylor]: Taking taylor expansion of phi2 in phi2 38.680 * [backup-simplify]: Simplify 0 into 0 38.680 * [backup-simplify]: Simplify 1 into 1 38.680 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.681 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) R) in phi2 38.681 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.681 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.681 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.681 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.681 * [backup-simplify]: Simplify -0.5 into -0.5 38.681 * [taylor]: Taking taylor expansion of phi1 in phi2 38.681 * [backup-simplify]: Simplify phi1 into phi1 38.681 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.681 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.681 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.682 * [backup-simplify]: Simplify (- 0) into 0 38.682 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.682 * [taylor]: Taking taylor expansion of R in phi2 38.682 * [backup-simplify]: Simplify R into R 38.682 * [taylor]: Taking taylor expansion of (+ (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))))) in phi2 38.682 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))))) in phi2 38.682 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.682 * [taylor]: Taking taylor expansion of phi2 in phi2 38.682 * [backup-simplify]: Simplify 0 into 0 38.682 * [backup-simplify]: Simplify 1 into 1 38.682 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R)))) in phi2 38.682 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.682 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.682 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.683 * [backup-simplify]: Simplify -0.5 into -0.5 38.683 * [taylor]: Taking taylor expansion of phi2 in phi2 38.683 * [backup-simplify]: Simplify 0 into 0 38.683 * [backup-simplify]: Simplify 1 into 1 38.683 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.683 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.683 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R))) in phi2 38.683 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.683 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.683 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.683 * [backup-simplify]: Simplify -0.5 into -0.5 38.683 * [taylor]: Taking taylor expansion of phi2 in phi2 38.684 * [backup-simplify]: Simplify 0 into 0 38.684 * [backup-simplify]: Simplify 1 into 1 38.684 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.684 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.684 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R)) in phi2 38.684 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.684 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.684 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.684 * [backup-simplify]: Simplify -0.5 into -0.5 38.684 * [taylor]: Taking taylor expansion of phi1 in phi2 38.684 * [backup-simplify]: Simplify phi1 into phi1 38.684 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.685 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.685 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.685 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) R) in phi2 38.685 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.685 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.685 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.685 * [backup-simplify]: Simplify -0.5 into -0.5 38.685 * [taylor]: Taking taylor expansion of phi1 in phi2 38.685 * [backup-simplify]: Simplify phi1 into phi1 38.685 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.685 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.685 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.685 * [taylor]: Taking taylor expansion of R in phi2 38.685 * [backup-simplify]: Simplify R into R 38.685 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R))))) in phi2 38.685 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 38.685 * [taylor]: Taking taylor expansion of phi2 in phi2 38.685 * [backup-simplify]: Simplify 0 into 0 38.685 * [backup-simplify]: Simplify 1 into 1 38.685 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))) in phi2 38.685 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.685 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.686 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.686 * [backup-simplify]: Simplify -0.5 into -0.5 38.686 * [taylor]: Taking taylor expansion of phi2 in phi2 38.686 * [backup-simplify]: Simplify 0 into 0 38.686 * [backup-simplify]: Simplify 1 into 1 38.686 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.686 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.686 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R))) in phi2 38.686 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.686 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.686 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.686 * [backup-simplify]: Simplify -0.5 into -0.5 38.686 * [taylor]: Taking taylor expansion of phi2 in phi2 38.686 * [backup-simplify]: Simplify 0 into 0 38.687 * [backup-simplify]: Simplify 1 into 1 38.687 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.687 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.687 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)) in phi2 38.687 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.687 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.687 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.687 * [backup-simplify]: Simplify -0.5 into -0.5 38.687 * [taylor]: Taking taylor expansion of phi1 in phi2 38.687 * [backup-simplify]: Simplify phi1 into phi1 38.687 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.688 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.688 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.688 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) R) in phi2 38.688 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.688 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.688 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.688 * [backup-simplify]: Simplify -0.5 into -0.5 38.688 * [taylor]: Taking taylor expansion of phi1 in phi2 38.688 * [backup-simplify]: Simplify phi1 into phi1 38.688 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.688 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.688 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.688 * [taylor]: Taking taylor expansion of R in phi2 38.688 * [backup-simplify]: Simplify R into R 38.688 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.689 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.689 * [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)) 38.690 * [backup-simplify]: Simplify (* 1 1) into 1 38.690 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.690 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.690 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) R) into (* (pow (sin (/ -0.5 phi1)) 2) R) 38.691 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)) into (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 38.691 * [backup-simplify]: Simplify (* 1 (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) 38.691 * [backup-simplify]: Simplify (* 1 1) into 1 38.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.692 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) R) into (* (pow (cos (/ -0.5 phi1)) 2) R) 38.692 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) into (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) 38.693 * [backup-simplify]: Simplify (* 1 (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) into (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) 38.694 * [backup-simplify]: Simplify (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) into (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) 38.694 * [backup-simplify]: Simplify (* 1 1) into 1 38.694 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.695 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.695 * [backup-simplify]: Simplify (- 0) into 0 38.695 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.695 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.695 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.695 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.696 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) R) into (* (sin (/ -0.5 phi1)) R) 38.696 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R)) into (* R (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 38.696 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 38.696 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 38.697 * [backup-simplify]: Simplify (* 1 (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) 38.697 * [backup-simplify]: Simplify (* 1 1) into 1 38.698 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.698 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.698 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.698 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.698 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.698 * [backup-simplify]: Simplify (- 0) into 0 38.699 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.699 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) R) into (* (cos (/ -0.5 phi1)) R) 38.699 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)) into (* R (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) 38.699 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 38.700 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) 38.700 * [backup-simplify]: Simplify (* 1 (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 38.701 * [backup-simplify]: Simplify (+ (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (+ (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) 38.702 * [backup-simplify]: Simplify (- (+ (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))))) 38.705 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (- (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))))) 38.709 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R))))))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) 38.709 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 38.709 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 38.709 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 38.709 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 38.709 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 38.709 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 38.709 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.709 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.709 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.709 * [backup-simplify]: Simplify -0.5 into -0.5 38.709 * [taylor]: Taking taylor expansion of phi2 in phi2 38.709 * [backup-simplify]: Simplify 0 into 0 38.709 * [backup-simplify]: Simplify 1 into 1 38.710 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.710 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.710 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 38.710 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.710 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.711 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.711 * [backup-simplify]: Simplify -0.5 into -0.5 38.711 * [taylor]: Taking taylor expansion of phi1 in phi2 38.711 * [backup-simplify]: Simplify phi1 into phi1 38.711 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.711 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.711 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.711 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.711 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.712 * [backup-simplify]: Simplify (- 0) into 0 38.712 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.712 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 38.712 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 38.712 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.712 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.712 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.712 * [backup-simplify]: Simplify -0.5 into -0.5 38.712 * [taylor]: Taking taylor expansion of phi2 in phi2 38.712 * [backup-simplify]: Simplify 0 into 0 38.712 * [backup-simplify]: Simplify 1 into 1 38.713 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.713 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.713 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 38.713 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.713 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.713 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.713 * [backup-simplify]: Simplify -0.5 into -0.5 38.713 * [taylor]: Taking taylor expansion of phi1 in phi2 38.713 * [backup-simplify]: Simplify phi1 into phi1 38.713 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.713 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.713 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.713 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.714 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.714 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.714 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 38.714 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 38.714 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.714 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.714 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.714 * [backup-simplify]: Simplify -0.5 into -0.5 38.714 * [taylor]: Taking taylor expansion of phi2 in phi2 38.714 * [backup-simplify]: Simplify 0 into 0 38.714 * [backup-simplify]: Simplify 1 into 1 38.714 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.715 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.715 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 38.715 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.715 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.715 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.715 * [backup-simplify]: Simplify -0.5 into -0.5 38.715 * [taylor]: Taking taylor expansion of phi1 in phi2 38.715 * [backup-simplify]: Simplify phi1 into phi1 38.715 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.715 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.715 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.715 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 38.715 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.715 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.715 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.715 * [backup-simplify]: Simplify -0.5 into -0.5 38.715 * [taylor]: Taking taylor expansion of phi2 in phi2 38.715 * [backup-simplify]: Simplify 0 into 0 38.715 * [backup-simplify]: Simplify 1 into 1 38.716 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.716 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.716 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.716 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.716 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.716 * [backup-simplify]: Simplify -0.5 into -0.5 38.716 * [taylor]: Taking taylor expansion of phi1 in phi2 38.716 * [backup-simplify]: Simplify phi1 into phi1 38.716 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.716 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.716 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.716 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 38.716 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 38.716 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.716 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.716 * [backup-simplify]: Simplify -0.5 into -0.5 38.717 * [taylor]: Taking taylor expansion of phi2 in phi2 38.717 * [backup-simplify]: Simplify 0 into 0 38.717 * [backup-simplify]: Simplify 1 into 1 38.717 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.717 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 38.717 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 38.717 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 38.717 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.717 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.717 * [backup-simplify]: Simplify -0.5 into -0.5 38.717 * [taylor]: Taking taylor expansion of phi1 in phi2 38.717 * [backup-simplify]: Simplify phi1 into phi1 38.717 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.718 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.718 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 38.718 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 38.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 38.718 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.718 * [backup-simplify]: Simplify -0.5 into -0.5 38.718 * [taylor]: Taking taylor expansion of phi2 in phi2 38.718 * [backup-simplify]: Simplify 0 into 0 38.718 * [backup-simplify]: Simplify 1 into 1 38.718 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 38.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 38.719 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 38.719 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 38.719 * [taylor]: Taking taylor expansion of -0.5 in phi2 38.719 * [backup-simplify]: Simplify -0.5 into -0.5 38.719 * [taylor]: Taking taylor expansion of phi1 in phi2 38.719 * [backup-simplify]: Simplify phi1 into phi1 38.719 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 38.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 38.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 38.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 38.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 38.720 * [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)) 38.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 38.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 38.720 * [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)) 38.721 * [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))) 38.721 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.722 * [backup-simplify]: Simplify (- 0) into 0 38.722 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.722 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 38.723 * [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)))) 38.723 * [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))))) 38.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 38.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 38.724 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 38.724 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 38.724 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 38.725 * [backup-simplify]: Simplify (- 0) into 0 38.725 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 38.725 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 38.725 * [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)))) 38.726 * [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))))) 38.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 38.727 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 38.729 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 38.731 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 38.734 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 38.734 * [backup-simplify]: Simplify (+ 0) into 0 38.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.735 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.736 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.736 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.737 * [backup-simplify]: Simplify (- 0) into 0 38.737 * [backup-simplify]: Simplify (+ 0 0) into 0 38.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.738 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.738 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 38.738 * [backup-simplify]: Simplify (+ 0) into 0 38.739 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.739 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.740 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.741 * [backup-simplify]: Simplify (+ 0 0) into 0 38.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.741 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 38.741 * [backup-simplify]: Simplify (+ 0 0) into 0 38.742 * [backup-simplify]: Simplify (+ 0) into 0 38.742 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.742 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.742 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.743 * [backup-simplify]: Simplify (+ 0 0) into 0 38.743 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.743 * [backup-simplify]: Simplify (+ 0) into 0 38.744 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.744 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.744 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.745 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.745 * [backup-simplify]: Simplify (- 0) into 0 38.745 * [backup-simplify]: Simplify (+ 0 0) into 0 38.745 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 38.746 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 38.746 * [backup-simplify]: Simplify (+ 0) into 0 38.746 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.746 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.747 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.747 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.747 * [backup-simplify]: Simplify (- 0) into 0 38.748 * [backup-simplify]: Simplify (+ 0 0) into 0 38.748 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.748 * [backup-simplify]: Simplify (+ 0) into 0 38.748 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.748 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.749 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.749 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.749 * [backup-simplify]: Simplify (+ 0 0) into 0 38.750 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 38.750 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 38.750 * [backup-simplify]: Simplify (+ 0 0) into 0 38.750 * [backup-simplify]: Simplify (- 0) into 0 38.751 * [backup-simplify]: Simplify (+ 0 0) into 0 38.753 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 38.754 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 38.757 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))))) 38.757 * [backup-simplify]: Simplify (+ 0) into 0 38.758 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.758 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.759 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.759 * [backup-simplify]: Simplify (- 0) into 0 38.759 * [backup-simplify]: Simplify (+ 0 0) into 0 38.759 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.759 * [backup-simplify]: Simplify (+ 0) into 0 38.760 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.760 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.760 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.761 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.761 * [backup-simplify]: Simplify (+ 0 0) into 0 38.761 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 38.761 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 38.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.762 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 R)) into 0 38.762 * [backup-simplify]: Simplify (+ 0) into 0 38.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.762 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.763 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.763 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.763 * [backup-simplify]: Simplify (- 0) into 0 38.764 * [backup-simplify]: Simplify (+ 0 0) into 0 38.764 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.764 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) R))) into 0 38.765 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.765 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))))) into 0 38.765 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.765 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 R)) into 0 38.766 * [backup-simplify]: Simplify (+ 0) into 0 38.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.766 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.767 * [backup-simplify]: Simplify (+ 0 0) into 0 38.767 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.767 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) R))) into 0 38.768 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.768 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))))) into 0 38.769 * [backup-simplify]: Simplify (+ 0 0) into 0 38.769 * [backup-simplify]: Simplify (+ 0) into 0 38.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.769 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.770 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.770 * [backup-simplify]: Simplify (- 0) into 0 38.771 * [backup-simplify]: Simplify (+ 0 0) into 0 38.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 R)) into 0 38.771 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) R))) into 0 38.771 * [backup-simplify]: Simplify (+ 0) into 0 38.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.772 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.772 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.773 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.773 * [backup-simplify]: Simplify (+ 0 0) into 0 38.774 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 38.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into 0 38.775 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.776 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into 0 38.776 * [backup-simplify]: Simplify (+ 0) into 0 38.776 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.777 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.778 * [backup-simplify]: Simplify (+ 0 0) into 0 38.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 R)) into 0 38.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) R))) into 0 38.779 * [backup-simplify]: Simplify (+ 0) into 0 38.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.780 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.782 * [backup-simplify]: Simplify (- 0) into 0 38.782 * [backup-simplify]: Simplify (+ 0 0) into 0 38.782 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 38.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0 38.783 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.785 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into 0 38.785 * [backup-simplify]: Simplify (+ 0 0) into 0 38.785 * [backup-simplify]: Simplify (- 0) into 0 38.786 * [backup-simplify]: Simplify (+ 0 0) into 0 38.793 * [backup-simplify]: Simplify (- (/ 0 (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 0 (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) into 0 38.798 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) 0) (* 0 (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0 38.803 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))))) 38.807 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))))) 0) into (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) 38.810 * [backup-simplify]: Simplify (+ 0 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))))) 38.821 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))))) into (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) 38.827 * [backup-simplify]: Simplify (+ 0 (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))))) 38.828 * [backup-simplify]: Simplify (+ 0) into 0 38.828 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.829 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.829 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.830 * [backup-simplify]: Simplify (+ 0 0) into 0 38.830 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.830 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.830 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 38.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.830 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 R)) into 0 38.831 * [backup-simplify]: Simplify (+ 0) into 0 38.831 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.831 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.832 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.832 * [backup-simplify]: Simplify (- 0) into 0 38.833 * [backup-simplify]: Simplify (+ 0 0) into 0 38.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.833 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) R))) into 0 38.833 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.834 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))))) into 0 38.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.834 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 R)) into 0 38.835 * [backup-simplify]: Simplify (+ 0) into 0 38.835 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.835 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.837 * [backup-simplify]: Simplify (+ 0 0) into 0 38.837 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.837 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) R))) into 0 38.838 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.839 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))))) into 0 38.839 * [backup-simplify]: Simplify (+ 0 0) into 0 38.840 * [backup-simplify]: Simplify (+ 0) into 0 38.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.840 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.841 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.842 * [backup-simplify]: Simplify (- 0) into 0 38.842 * [backup-simplify]: Simplify (+ 0 0) into 0 38.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 R)) into 0 38.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) R))) into 0 38.843 * [backup-simplify]: Simplify (+ 0) into 0 38.844 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.844 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.845 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.846 * [backup-simplify]: Simplify (+ 0 0) into 0 38.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* R (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 38.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* R (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into 0 38.847 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.848 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into 0 38.849 * [backup-simplify]: Simplify (+ 0) into 0 38.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.850 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.851 * [backup-simplify]: Simplify (+ 0 0) into 0 38.851 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 R)) into 0 38.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) R))) into 0 38.852 * [backup-simplify]: Simplify (+ 0) into 0 38.852 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.853 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.853 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.854 * [backup-simplify]: Simplify (- 0) into 0 38.855 * [backup-simplify]: Simplify (+ 0 0) into 0 38.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* R (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 38.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* R (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0 38.856 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.857 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into 0 38.858 * [backup-simplify]: Simplify (+ 0 0) into 0 38.858 * [backup-simplify]: Simplify (- 0) into 0 38.858 * [backup-simplify]: Simplify (+ 0 0) into 0 38.865 * [backup-simplify]: Simplify (- (/ 0 (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R))))))) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 0 (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) R)))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) R)))))))))) into 0 38.868 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 38.870 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R)))))))) 38.873 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) R)))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) R)))))))))) into 0 38.876 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))))) 38.879 * [backup-simplify]: Simplify (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))))) into (* 2 (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) R))) (* (pow (cos (/ -0.5 phi1)) 2) (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) 38.880 * [backup-simplify]: Simplify (+ 0) into 0 38.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.881 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.881 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.882 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.882 * [backup-simplify]: Simplify (- 0) into 0 38.882 * [backup-simplify]: Simplify (+ 0 0) into 0 38.882 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.882 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.883 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 38.883 * [backup-simplify]: Simplify (+ 0) into 0 38.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.884 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.885 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.885 * [backup-simplify]: Simplify (+ 0 0) into 0 38.885 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 38.885 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 R)) into 0 38.886 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 38.886 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 2) R))) into 0 38.886 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.887 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0 38.887 * [backup-simplify]: Simplify (+ 0) into 0 38.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.888 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.889 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.889 * [backup-simplify]: Simplify (- 0) into 0 38.890 * [backup-simplify]: Simplify (+ 0 0) into 0 38.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 38.890 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 R)) into 0 38.891 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 38.891 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) R))) into 0 38.892 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.893 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))))) into 0 38.893 * [backup-simplify]: Simplify (+ 0 0) into 0 38.894 * [backup-simplify]: Simplify (+ 0) into 0 38.894 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.894 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.896 * [backup-simplify]: Simplify (+ 0 0) into 0 38.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 R)) into 0 38.897 * [backup-simplify]: Simplify (+ 0) into 0 38.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.897 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.899 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.899 * [backup-simplify]: Simplify (- 0) into 0 38.900 * [backup-simplify]: Simplify (+ 0 0) into 0 38.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) R))) into 0 38.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* R (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 38.901 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 38.901 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.902 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into 0 38.903 * [backup-simplify]: Simplify (+ 0) into 0 38.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.904 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.905 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.905 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.906 * [backup-simplify]: Simplify (- 0) into 0 38.906 * [backup-simplify]: Simplify (+ 0 0) into 0 38.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 R)) into 0 38.907 * [backup-simplify]: Simplify (+ 0) into 0 38.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 38.907 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 38.908 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 38.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 38.909 * [backup-simplify]: Simplify (+ 0 0) into 0 38.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) R))) into 0 38.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* R (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 38.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 38.912 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 38.913 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into 0 38.913 * [backup-simplify]: Simplify (+ 0 0) into 0 38.914 * [backup-simplify]: Simplify (- 0) into 0 38.914 * [backup-simplify]: Simplify (+ 0 0) into 0 38.923 * [backup-simplify]: Simplify (- (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R))))))) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))))))))) into 0 38.928 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 38.933 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) 38.939 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))))) into 0 38.940 * [backup-simplify]: Simplify (+ 0 0) into 0 38.946 * [backup-simplify]: Simplify (+ (* 2 (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) R))) (* (pow (cos (/ -0.5 phi1)) 2) (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) 0) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) 38.952 * [backup-simplify]: Simplify (+ 0 (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))))) into (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) 38.959 * [backup-simplify]: Simplify (+ 0 (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* R (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* (pow (cos (/ -0.5 phi2)) 2) (* R (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))))) into (* 2 (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) 38.965 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))))) into (- (* 2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) R))) (* (pow (cos (/ -0.5 phi1)) 2) (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))))) 39.426 * [backup-simplify]: Simplify (+ (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) phi1))) (* R (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R))) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))))) (- (* 2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* phi1 (* (pow (sin (/ -0.5 phi2)) 2) R))) (* (pow (cos (/ -0.5 phi1)) 2) (* phi1 (* (pow (cos (/ -0.5 phi2)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))))) into (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))))) 39.426 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))))) in phi1 39.427 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) in phi1 39.427 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) in phi1 39.427 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) in phi1 39.427 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 39.427 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 39.427 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.427 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.427 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.427 * [backup-simplify]: Simplify -0.5 into -0.5 39.427 * [taylor]: Taking taylor expansion of phi2 in phi1 39.427 * [backup-simplify]: Simplify phi2 into phi2 39.427 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.427 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.427 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.427 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.428 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.428 * [backup-simplify]: Simplify (- 0) into 0 39.428 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.428 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 39.428 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.428 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.428 * [backup-simplify]: Simplify -0.5 into -0.5 39.428 * [taylor]: Taking taylor expansion of phi1 in phi1 39.428 * [backup-simplify]: Simplify 0 into 0 39.429 * [backup-simplify]: Simplify 1 into 1 39.429 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.429 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))) in phi1 39.429 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)))) in phi1 39.429 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1))) in phi1 39.429 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 39.429 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.429 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.429 * [backup-simplify]: Simplify -0.5 into -0.5 39.429 * [taylor]: Taking taylor expansion of phi1 in phi1 39.429 * [backup-simplify]: Simplify 0 into 0 39.429 * [backup-simplify]: Simplify 1 into 1 39.430 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.430 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ -0.5 phi2)) 2) phi1)) in phi1 39.430 * [taylor]: Taking taylor expansion of R in phi1 39.430 * [backup-simplify]: Simplify R into R 39.430 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) phi1) in phi1 39.430 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 39.430 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.430 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.430 * [backup-simplify]: Simplify -0.5 into -0.5 39.430 * [taylor]: Taking taylor expansion of phi2 in phi1 39.430 * [backup-simplify]: Simplify phi2 into phi2 39.430 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.430 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.431 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.431 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.431 * [taylor]: Taking taylor expansion of phi1 in phi1 39.431 * [backup-simplify]: Simplify 0 into 0 39.431 * [backup-simplify]: Simplify 1 into 1 39.431 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1))) in phi1 39.431 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 39.431 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.431 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.431 * [backup-simplify]: Simplify -0.5 into -0.5 39.431 * [taylor]: Taking taylor expansion of phi1 in phi1 39.431 * [backup-simplify]: Simplify 0 into 0 39.431 * [backup-simplify]: Simplify 1 into 1 39.431 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.432 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ -0.5 phi2)) 2) phi1)) in phi1 39.432 * [taylor]: Taking taylor expansion of R in phi1 39.432 * [backup-simplify]: Simplify R into R 39.432 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) phi1) in phi1 39.432 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 39.432 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.432 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.432 * [backup-simplify]: Simplify -0.5 into -0.5 39.432 * [taylor]: Taking taylor expansion of phi2 in phi1 39.432 * [backup-simplify]: Simplify phi2 into phi2 39.432 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.433 * [backup-simplify]: Simplify (- 0) into 0 39.433 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.433 * [taylor]: Taking taylor expansion of phi1 in phi1 39.433 * [backup-simplify]: Simplify 0 into 0 39.433 * [backup-simplify]: Simplify 1 into 1 39.433 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))) in phi1 39.433 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) in phi1 39.433 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.433 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.433 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.433 * [backup-simplify]: Simplify -0.5 into -0.5 39.433 * [taylor]: Taking taylor expansion of phi1 in phi1 39.433 * [backup-simplify]: Simplify 0 into 0 39.433 * [backup-simplify]: Simplify 1 into 1 39.433 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.434 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.434 * [taylor]: Taking taylor expansion of (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1)))) in phi1 39.434 * [taylor]: Taking taylor expansion of R in phi1 39.434 * [backup-simplify]: Simplify R into R 39.434 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))) in phi1 39.434 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.434 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.434 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.434 * [backup-simplify]: Simplify -0.5 into -0.5 39.434 * [taylor]: Taking taylor expansion of phi1 in phi1 39.434 * [backup-simplify]: Simplify 0 into 0 39.434 * [backup-simplify]: Simplify 1 into 1 39.434 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.434 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.434 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1)) in phi1 39.434 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.435 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.435 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.435 * [backup-simplify]: Simplify -0.5 into -0.5 39.435 * [taylor]: Taking taylor expansion of phi2 in phi1 39.435 * [backup-simplify]: Simplify phi2 into phi2 39.435 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.435 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.435 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.435 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) phi1) in phi1 39.435 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.435 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.435 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.435 * [backup-simplify]: Simplify -0.5 into -0.5 39.435 * [taylor]: Taking taylor expansion of phi2 in phi1 39.435 * [backup-simplify]: Simplify phi2 into phi2 39.435 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.435 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.435 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.435 * [taylor]: Taking taylor expansion of phi1 in phi1 39.435 * [backup-simplify]: Simplify 0 into 0 39.435 * [backup-simplify]: Simplify 1 into 1 39.435 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))) in phi1 39.435 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.435 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.436 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.436 * [backup-simplify]: Simplify -0.5 into -0.5 39.436 * [taylor]: Taking taylor expansion of phi1 in phi1 39.436 * [backup-simplify]: Simplify 0 into 0 39.436 * [backup-simplify]: Simplify 1 into 1 39.436 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.436 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.436 * [taylor]: Taking taylor expansion of (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))) in phi1 39.436 * [taylor]: Taking taylor expansion of R in phi1 39.436 * [backup-simplify]: Simplify R into R 39.436 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))) in phi1 39.437 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.437 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.437 * [backup-simplify]: Simplify -0.5 into -0.5 39.437 * [taylor]: Taking taylor expansion of phi1 in phi1 39.437 * [backup-simplify]: Simplify 0 into 0 39.437 * [backup-simplify]: Simplify 1 into 1 39.437 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.437 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)) in phi1 39.437 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.437 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.437 * [backup-simplify]: Simplify -0.5 into -0.5 39.437 * [taylor]: Taking taylor expansion of phi2 in phi1 39.437 * [backup-simplify]: Simplify phi2 into phi2 39.438 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.438 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.438 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.438 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) phi1) in phi1 39.438 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.438 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.438 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.438 * [backup-simplify]: Simplify -0.5 into -0.5 39.438 * [taylor]: Taking taylor expansion of phi2 in phi1 39.438 * [backup-simplify]: Simplify phi2 into phi2 39.438 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.438 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.438 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.438 * [taylor]: Taking taylor expansion of phi1 in phi1 39.438 * [backup-simplify]: Simplify 0 into 0 39.438 * [backup-simplify]: Simplify 1 into 1 39.438 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.439 * [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)) 39.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.440 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) 0) into 0 39.440 * [backup-simplify]: Simplify (* R 0) into 0 39.440 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) 0) into 0 39.440 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.441 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.441 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) 0) into 0 39.441 * [backup-simplify]: Simplify (* R 0) into 0 39.441 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) 0) into 0 39.442 * [backup-simplify]: Simplify (+ 0 0) into 0 39.442 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.442 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.442 * [backup-simplify]: Simplify (- 0) into 0 39.442 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.443 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.443 * [backup-simplify]: Simplify (* R 0) into 0 39.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.444 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.444 * [backup-simplify]: Simplify (- 0) into 0 39.444 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.445 * [backup-simplify]: Simplify (* R 0) into 0 39.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.445 * [backup-simplify]: Simplify (+ 0 0) into 0 39.446 * [backup-simplify]: Simplify (- 0) into 0 39.446 * [backup-simplify]: Simplify (+ 0 0) into 0 39.446 * [backup-simplify]: Simplify (+ 0) into 0 39.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.447 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.448 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.449 * [backup-simplify]: Simplify (+ 0 0) into 0 39.449 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.450 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 1) (* 0 0)) into (pow (sin (/ -0.5 phi2)) 2) 39.450 * [backup-simplify]: Simplify (+ (* R (pow (sin (/ -0.5 phi2)) 2)) (* 0 0)) into (* (pow (sin (/ -0.5 phi2)) 2) R) 39.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.451 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* 0 0)) into (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)) 39.452 * [backup-simplify]: Simplify (+ 0) into 0 39.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.453 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.454 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.454 * [backup-simplify]: Simplify (- 0) into 0 39.455 * [backup-simplify]: Simplify (+ 0 0) into 0 39.455 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.455 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 1) (* 0 0)) into (pow (cos (/ -0.5 phi2)) 2) 39.456 * [backup-simplify]: Simplify (+ (* R (pow (cos (/ -0.5 phi2)) 2)) (* 0 0)) into (* (pow (cos (/ -0.5 phi2)) 2) R) 39.456 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.457 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)) (* 0 0)) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) 39.458 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)) (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R))) into (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) 39.459 * [backup-simplify]: Simplify (+ 0) into 0 39.459 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.459 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.460 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.461 * [backup-simplify]: Simplify (+ 0 0) into 0 39.461 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 1) (* 0 0)) into (sin (/ -0.5 phi2)) 39.462 * [backup-simplify]: Simplify (+ 0) into 0 39.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.462 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.464 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.464 * [backup-simplify]: Simplify (- 0) into 0 39.464 * [backup-simplify]: Simplify (+ 0 0) into 0 39.465 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 39.466 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 39.466 * [backup-simplify]: Simplify (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* 0 0)) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))) 39.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) 39.468 * [backup-simplify]: Simplify (+ 0) into 0 39.468 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.468 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.469 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.470 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.470 * [backup-simplify]: Simplify (- 0) into 0 39.470 * [backup-simplify]: Simplify (+ 0 0) into 0 39.471 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 1) (* 0 0)) into (cos (/ -0.5 phi2)) 39.471 * [backup-simplify]: Simplify (+ 0) into 0 39.472 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.472 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.473 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.474 * [backup-simplify]: Simplify (+ 0 0) into 0 39.474 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 39.475 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 39.476 * [backup-simplify]: Simplify (+ (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* 0 0)) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R))) 39.476 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) 39.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))) 39.479 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))))) into (- (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 39.481 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (- (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) 39.484 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (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 (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))))) 39.484 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) in phi1 39.484 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) in phi1 39.484 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) in phi1 39.484 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 39.484 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 39.484 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 39.484 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.484 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.484 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.484 * [backup-simplify]: Simplify -0.5 into -0.5 39.484 * [taylor]: Taking taylor expansion of phi2 in phi1 39.484 * [backup-simplify]: Simplify phi2 into phi2 39.484 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.485 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.485 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.485 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.485 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.485 * [backup-simplify]: Simplify (- 0) into 0 39.486 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.486 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 39.486 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.486 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.486 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.486 * [backup-simplify]: Simplify -0.5 into -0.5 39.486 * [taylor]: Taking taylor expansion of phi1 in phi1 39.486 * [backup-simplify]: Simplify 0 into 0 39.486 * [backup-simplify]: Simplify 1 into 1 39.486 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.486 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.486 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 39.487 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 39.487 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.487 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.487 * [backup-simplify]: Simplify -0.5 into -0.5 39.487 * [taylor]: Taking taylor expansion of phi2 in phi1 39.487 * [backup-simplify]: Simplify phi2 into phi2 39.487 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.487 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.487 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.487 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.487 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.487 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.487 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 39.487 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.487 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.487 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.487 * [backup-simplify]: Simplify -0.5 into -0.5 39.487 * [taylor]: Taking taylor expansion of phi1 in phi1 39.488 * [backup-simplify]: Simplify 0 into 0 39.488 * [backup-simplify]: Simplify 1 into 1 39.488 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.488 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.488 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) in phi1 39.488 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi1 39.488 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.488 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.488 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.488 * [backup-simplify]: Simplify -0.5 into -0.5 39.488 * [taylor]: Taking taylor expansion of phi1 in phi1 39.488 * [backup-simplify]: Simplify 0 into 0 39.488 * [backup-simplify]: Simplify 1 into 1 39.489 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.489 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.489 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi1 39.489 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.489 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.489 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.489 * [backup-simplify]: Simplify -0.5 into -0.5 39.489 * [taylor]: Taking taylor expansion of phi1 in phi1 39.489 * [backup-simplify]: Simplify 0 into 0 39.489 * [backup-simplify]: Simplify 1 into 1 39.490 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.490 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.490 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi1 39.490 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.490 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.490 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.490 * [backup-simplify]: Simplify -0.5 into -0.5 39.490 * [taylor]: Taking taylor expansion of phi2 in phi1 39.490 * [backup-simplify]: Simplify phi2 into phi2 39.490 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.490 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.490 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.490 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.490 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.490 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.490 * [backup-simplify]: Simplify -0.5 into -0.5 39.490 * [taylor]: Taking taylor expansion of phi2 in phi1 39.491 * [backup-simplify]: Simplify phi2 into phi2 39.491 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.491 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.491 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.491 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in phi1 39.491 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.491 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.491 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.491 * [backup-simplify]: Simplify -0.5 into -0.5 39.491 * [taylor]: Taking taylor expansion of phi1 in phi1 39.491 * [backup-simplify]: Simplify 0 into 0 39.491 * [backup-simplify]: Simplify 1 into 1 39.492 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.492 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.492 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in phi1 39.492 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.492 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.492 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.492 * [backup-simplify]: Simplify -0.5 into -0.5 39.492 * [taylor]: Taking taylor expansion of phi1 in phi1 39.492 * [backup-simplify]: Simplify 0 into 0 39.492 * [backup-simplify]: Simplify 1 into 1 39.492 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.493 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.493 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in phi1 39.493 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.493 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.493 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.493 * [backup-simplify]: Simplify -0.5 into -0.5 39.493 * [taylor]: Taking taylor expansion of phi2 in phi1 39.493 * [backup-simplify]: Simplify phi2 into phi2 39.493 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.493 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.493 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.493 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.493 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.493 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.493 * [backup-simplify]: Simplify -0.5 into -0.5 39.493 * [taylor]: Taking taylor expansion of phi2 in phi1 39.493 * [backup-simplify]: Simplify phi2 into phi2 39.493 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.493 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.493 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.494 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.494 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.494 * [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)) 39.494 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.495 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.495 * [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)) 39.496 * [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))) 39.496 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.496 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.497 * [backup-simplify]: Simplify (- 0) into 0 39.497 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.497 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.497 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.497 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.497 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 39.498 * [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)))) 39.498 * [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))))) 39.498 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.498 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.498 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.498 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.499 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.499 * [backup-simplify]: Simplify (- 0) into 0 39.499 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.499 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 39.500 * [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)))) 39.500 * [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))))) 39.501 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 39.502 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 39.504 * [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 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 39.506 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) 39.508 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) 39.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.509 * [backup-simplify]: Simplify (+ 0) into 0 39.509 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.509 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.510 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.511 * [backup-simplify]: Simplify (- 0) into 0 39.512 * [backup-simplify]: Simplify (+ 0 0) into 0 39.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.512 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 39.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.513 * [backup-simplify]: Simplify (+ 0) into 0 39.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.514 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.516 * [backup-simplify]: Simplify (+ 0 0) into 0 39.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.516 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 39.517 * [backup-simplify]: Simplify (+ 0 0) into 0 39.517 * [backup-simplify]: Simplify (+ 0) into 0 39.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.518 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.519 * [backup-simplify]: Simplify (+ 0 0) into 0 39.520 * [backup-simplify]: Simplify (+ 0) into 0 39.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.521 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.522 * [backup-simplify]: Simplify (- 0) into 0 39.523 * [backup-simplify]: Simplify (+ 0 0) into 0 39.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into 0 39.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 39.524 * [backup-simplify]: Simplify (+ 0) into 0 39.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.525 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.526 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.526 * [backup-simplify]: Simplify (- 0) into 0 39.527 * [backup-simplify]: Simplify (+ 0 0) into 0 39.527 * [backup-simplify]: Simplify (+ 0) into 0 39.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.529 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.530 * [backup-simplify]: Simplify (+ 0 0) into 0 39.530 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into 0 39.530 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 39.531 * [backup-simplify]: Simplify (+ 0 0) into 0 39.531 * [backup-simplify]: Simplify (- 0) into 0 39.532 * [backup-simplify]: Simplify (+ 0 0) into 0 39.536 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) (/ 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)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 39.538 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 39.538 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) in phi1 39.539 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) in phi1 39.539 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) in phi1 39.539 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 39.539 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.539 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.539 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.539 * [backup-simplify]: Simplify -0.5 into -0.5 39.539 * [taylor]: Taking taylor expansion of phi1 in phi1 39.539 * [backup-simplify]: Simplify 0 into 0 39.539 * [backup-simplify]: Simplify 1 into 1 39.540 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.540 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.540 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 39.540 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.540 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.540 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.540 * [backup-simplify]: Simplify -0.5 into -0.5 39.540 * [taylor]: Taking taylor expansion of phi2 in phi1 39.540 * [backup-simplify]: Simplify phi2 into phi2 39.540 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.540 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.540 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.541 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.541 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.541 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))) in phi1 39.541 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)))) in phi1 39.541 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R))) in phi1 39.541 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 39.541 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.541 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.541 * [backup-simplify]: Simplify -0.5 into -0.5 39.541 * [taylor]: Taking taylor expansion of phi2 in phi1 39.541 * [backup-simplify]: Simplify phi2 into phi2 39.541 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.541 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.542 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.542 * [taylor]: Taking taylor expansion of (* phi1 (* (pow (sin (/ -0.5 phi1)) 2) R)) in phi1 39.542 * [taylor]: Taking taylor expansion of phi1 in phi1 39.542 * [backup-simplify]: Simplify 0 into 0 39.542 * [backup-simplify]: Simplify 1 into 1 39.542 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) R) in phi1 39.542 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 39.542 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.542 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.542 * [backup-simplify]: Simplify -0.5 into -0.5 39.542 * [taylor]: Taking taylor expansion of phi1 in phi1 39.542 * [backup-simplify]: Simplify 0 into 0 39.542 * [backup-simplify]: Simplify 1 into 1 39.543 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.543 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.543 * [taylor]: Taking taylor expansion of R in phi1 39.543 * [backup-simplify]: Simplify R into R 39.543 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R))) in phi1 39.543 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 39.543 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.543 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.543 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.543 * [backup-simplify]: Simplify -0.5 into -0.5 39.543 * [taylor]: Taking taylor expansion of phi2 in phi1 39.543 * [backup-simplify]: Simplify phi2 into phi2 39.543 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.543 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.543 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.544 * [backup-simplify]: Simplify (- 0) into 0 39.544 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.544 * [taylor]: Taking taylor expansion of (* phi1 (* (pow (cos (/ -0.5 phi1)) 2) R)) in phi1 39.544 * [taylor]: Taking taylor expansion of phi1 in phi1 39.544 * [backup-simplify]: Simplify 0 into 0 39.544 * [backup-simplify]: Simplify 1 into 1 39.544 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) R) in phi1 39.544 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 39.544 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.544 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.544 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.544 * [backup-simplify]: Simplify -0.5 into -0.5 39.544 * [taylor]: Taking taylor expansion of phi1 in phi1 39.544 * [backup-simplify]: Simplify 0 into 0 39.544 * [backup-simplify]: Simplify 1 into 1 39.545 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.545 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.545 * [taylor]: Taking taylor expansion of R in phi1 39.545 * [backup-simplify]: Simplify R into R 39.545 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))) in phi1 39.545 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) in phi1 39.545 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.545 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.545 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.545 * [backup-simplify]: Simplify -0.5 into -0.5 39.545 * [taylor]: Taking taylor expansion of phi1 in phi1 39.545 * [backup-simplify]: Simplify 0 into 0 39.545 * [backup-simplify]: Simplify 1 into 1 39.546 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.546 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.546 * [taylor]: Taking taylor expansion of (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1)))) in phi1 39.546 * [taylor]: Taking taylor expansion of R in phi1 39.546 * [backup-simplify]: Simplify R into R 39.546 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))) in phi1 39.546 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.546 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.546 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.546 * [backup-simplify]: Simplify -0.5 into -0.5 39.546 * [taylor]: Taking taylor expansion of phi1 in phi1 39.546 * [backup-simplify]: Simplify 0 into 0 39.546 * [backup-simplify]: Simplify 1 into 1 39.547 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.547 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.547 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1)) in phi1 39.547 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.547 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.547 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.547 * [backup-simplify]: Simplify -0.5 into -0.5 39.547 * [taylor]: Taking taylor expansion of phi2 in phi1 39.547 * [backup-simplify]: Simplify phi2 into phi2 39.547 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.547 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.547 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.548 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) phi1) in phi1 39.548 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.548 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.548 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.548 * [backup-simplify]: Simplify -0.5 into -0.5 39.548 * [taylor]: Taking taylor expansion of phi2 in phi1 39.548 * [backup-simplify]: Simplify phi2 into phi2 39.548 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.548 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.548 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.548 * [taylor]: Taking taylor expansion of phi1 in phi1 39.548 * [backup-simplify]: Simplify 0 into 0 39.548 * [backup-simplify]: Simplify 1 into 1 39.548 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))) in phi1 39.548 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.548 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.548 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.548 * [backup-simplify]: Simplify -0.5 into -0.5 39.548 * [taylor]: Taking taylor expansion of phi1 in phi1 39.548 * [backup-simplify]: Simplify 0 into 0 39.548 * [backup-simplify]: Simplify 1 into 1 39.549 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.549 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.549 * [taylor]: Taking taylor expansion of (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))) in phi1 39.549 * [taylor]: Taking taylor expansion of R in phi1 39.549 * [backup-simplify]: Simplify R into R 39.549 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))) in phi1 39.549 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.549 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.549 * [backup-simplify]: Simplify -0.5 into -0.5 39.549 * [taylor]: Taking taylor expansion of phi1 in phi1 39.549 * [backup-simplify]: Simplify 0 into 0 39.549 * [backup-simplify]: Simplify 1 into 1 39.550 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.550 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.550 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)) in phi1 39.550 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.550 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.550 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.550 * [backup-simplify]: Simplify -0.5 into -0.5 39.550 * [taylor]: Taking taylor expansion of phi2 in phi1 39.550 * [backup-simplify]: Simplify phi2 into phi2 39.550 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.550 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.551 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) phi1) in phi1 39.551 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.551 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.551 * [backup-simplify]: Simplify -0.5 into -0.5 39.551 * [taylor]: Taking taylor expansion of phi2 in phi1 39.551 * [backup-simplify]: Simplify phi2 into phi2 39.551 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.551 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.551 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.551 * [taylor]: Taking taylor expansion of phi1 in phi1 39.551 * [backup-simplify]: Simplify 0 into 0 39.551 * [backup-simplify]: Simplify 1 into 1 39.551 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.551 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.552 * [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)) 39.552 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.552 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.553 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) R) into (* (pow (sin (/ -0.5 phi1)) 2) R) 39.553 * [backup-simplify]: Simplify (* 0 (* (pow (sin (/ -0.5 phi1)) 2) R)) into 0 39.553 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) 0) into 0 39.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.553 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.554 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) R) into (* (pow (cos (/ -0.5 phi1)) 2) R) 39.554 * [backup-simplify]: Simplify (* 0 (* (pow (cos (/ -0.5 phi1)) 2) R)) into 0 39.554 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) 0) into 0 39.554 * [backup-simplify]: Simplify (+ 0 0) into 0 39.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.555 * [backup-simplify]: Simplify (- 0) into 0 39.555 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.556 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.556 * [backup-simplify]: Simplify (* R 0) into 0 39.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.556 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.557 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.557 * [backup-simplify]: Simplify (- 0) into 0 39.557 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.558 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.558 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.558 * [backup-simplify]: Simplify (* R 0) into 0 39.558 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.558 * [backup-simplify]: Simplify (+ 0 0) into 0 39.559 * [backup-simplify]: Simplify (- 0) into 0 39.559 * [backup-simplify]: Simplify (+ 0 0) into 0 39.559 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.559 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 R)) into 0 39.560 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (sin (/ -0.5 phi1)) 2) R))) into (* (pow (sin (/ -0.5 phi1)) 2) R) 39.560 * [backup-simplify]: Simplify (+ 0) into 0 39.561 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.561 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.562 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.562 * [backup-simplify]: Simplify (+ 0 0) into 0 39.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.563 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R)) (* 0 0)) into (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) 39.563 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.563 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 R)) into 0 39.563 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (/ -0.5 phi1)) 2) R))) into (* (pow (cos (/ -0.5 phi1)) 2) R) 39.564 * [backup-simplify]: Simplify (+ 0) into 0 39.564 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.564 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.565 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.565 * [backup-simplify]: Simplify (- 0) into 0 39.566 * [backup-simplify]: Simplify (+ 0 0) into 0 39.566 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.566 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* 0 0)) into (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R)) 39.567 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) 39.567 * [backup-simplify]: Simplify (+ 0) into 0 39.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.568 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.568 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.569 * [backup-simplify]: Simplify (+ 0 0) into 0 39.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 1) (* 0 0)) into (sin (/ -0.5 phi2)) 39.569 * [backup-simplify]: Simplify (+ 0) into 0 39.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.570 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.570 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.571 * [backup-simplify]: Simplify (- 0) into 0 39.571 * [backup-simplify]: Simplify (+ 0 0) into 0 39.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 39.572 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 39.572 * [backup-simplify]: Simplify (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* 0 0)) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))) 39.573 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) 39.573 * [backup-simplify]: Simplify (+ 0) into 0 39.573 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.574 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.574 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.575 * [backup-simplify]: Simplify (- 0) into 0 39.575 * [backup-simplify]: Simplify (+ 0 0) into 0 39.575 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 1) (* 0 0)) into (cos (/ -0.5 phi2)) 39.575 * [backup-simplify]: Simplify (+ 0) into 0 39.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.576 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.576 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.577 * [backup-simplify]: Simplify (+ 0 0) into 0 39.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 39.578 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 39.578 * [backup-simplify]: Simplify (+ (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* 0 0)) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R))) 39.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) 39.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))) 39.584 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))))) into (- (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 39.586 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (- (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 39.587 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))))) 39.588 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) in phi1 39.588 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) in phi1 39.588 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) in phi1 39.588 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 39.588 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 39.588 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 39.588 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.588 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.588 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.588 * [backup-simplify]: Simplify -0.5 into -0.5 39.588 * [taylor]: Taking taylor expansion of phi2 in phi1 39.588 * [backup-simplify]: Simplify phi2 into phi2 39.588 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.588 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.588 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.588 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.588 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.589 * [backup-simplify]: Simplify (- 0) into 0 39.589 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.589 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 39.589 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.589 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.589 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.589 * [backup-simplify]: Simplify -0.5 into -0.5 39.589 * [taylor]: Taking taylor expansion of phi1 in phi1 39.589 * [backup-simplify]: Simplify 0 into 0 39.589 * [backup-simplify]: Simplify 1 into 1 39.589 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.589 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.589 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 39.589 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 39.589 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.589 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.589 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.589 * [backup-simplify]: Simplify -0.5 into -0.5 39.589 * [taylor]: Taking taylor expansion of phi2 in phi1 39.589 * [backup-simplify]: Simplify phi2 into phi2 39.590 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.590 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.590 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.590 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.590 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.590 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.590 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 39.590 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.590 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.590 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.590 * [backup-simplify]: Simplify -0.5 into -0.5 39.590 * [taylor]: Taking taylor expansion of phi1 in phi1 39.590 * [backup-simplify]: Simplify 0 into 0 39.590 * [backup-simplify]: Simplify 1 into 1 39.590 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.590 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.590 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) in phi1 39.590 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi1 39.590 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.590 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.590 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.590 * [backup-simplify]: Simplify -0.5 into -0.5 39.591 * [taylor]: Taking taylor expansion of phi1 in phi1 39.591 * [backup-simplify]: Simplify 0 into 0 39.591 * [backup-simplify]: Simplify 1 into 1 39.591 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.591 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.591 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi1 39.591 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.591 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.591 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.591 * [backup-simplify]: Simplify -0.5 into -0.5 39.591 * [taylor]: Taking taylor expansion of phi1 in phi1 39.591 * [backup-simplify]: Simplify 0 into 0 39.591 * [backup-simplify]: Simplify 1 into 1 39.591 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.591 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.591 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi1 39.591 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.592 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.592 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.592 * [backup-simplify]: Simplify -0.5 into -0.5 39.592 * [taylor]: Taking taylor expansion of phi2 in phi1 39.592 * [backup-simplify]: Simplify phi2 into phi2 39.592 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.592 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.592 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.592 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.592 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.592 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.592 * [backup-simplify]: Simplify -0.5 into -0.5 39.592 * [taylor]: Taking taylor expansion of phi2 in phi1 39.592 * [backup-simplify]: Simplify phi2 into phi2 39.592 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.592 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.592 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.592 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in phi1 39.592 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.592 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.592 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.592 * [backup-simplify]: Simplify -0.5 into -0.5 39.592 * [taylor]: Taking taylor expansion of phi1 in phi1 39.592 * [backup-simplify]: Simplify 0 into 0 39.592 * [backup-simplify]: Simplify 1 into 1 39.592 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.593 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.593 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in phi1 39.593 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.593 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.593 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.593 * [backup-simplify]: Simplify -0.5 into -0.5 39.593 * [taylor]: Taking taylor expansion of phi1 in phi1 39.593 * [backup-simplify]: Simplify 0 into 0 39.593 * [backup-simplify]: Simplify 1 into 1 39.593 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.593 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.593 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in phi1 39.593 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.593 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.593 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.593 * [backup-simplify]: Simplify -0.5 into -0.5 39.593 * [taylor]: Taking taylor expansion of phi2 in phi1 39.593 * [backup-simplify]: Simplify phi2 into phi2 39.593 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.593 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.593 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.593 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.593 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.593 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.593 * [backup-simplify]: Simplify -0.5 into -0.5 39.593 * [taylor]: Taking taylor expansion of phi2 in phi1 39.593 * [backup-simplify]: Simplify phi2 into phi2 39.593 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.594 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.594 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.594 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.594 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.594 * [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)) 39.594 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.594 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.594 * [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)) 39.595 * [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))) 39.595 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.595 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.595 * [backup-simplify]: Simplify (- 0) into 0 39.595 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.595 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.596 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.596 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.596 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 39.596 * [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)))) 39.596 * [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))))) 39.596 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.596 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.596 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.596 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.596 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.597 * [backup-simplify]: Simplify (- 0) into 0 39.597 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.597 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 39.597 * [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)))) 39.597 * [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))))) 39.597 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) 39.598 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 39.599 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 39.600 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) 39.601 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) 39.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.602 * [backup-simplify]: Simplify (+ 0) into 0 39.602 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.602 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.603 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.603 * [backup-simplify]: Simplify (- 0) into 0 39.604 * [backup-simplify]: Simplify (+ 0 0) into 0 39.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.604 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 39.604 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.604 * [backup-simplify]: Simplify (+ 0) into 0 39.605 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.605 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.606 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.606 * [backup-simplify]: Simplify (+ 0 0) into 0 39.606 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.606 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 39.606 * [backup-simplify]: Simplify (+ 0 0) into 0 39.607 * [backup-simplify]: Simplify (+ 0) into 0 39.607 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.607 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.608 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.608 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.608 * [backup-simplify]: Simplify (+ 0 0) into 0 39.608 * [backup-simplify]: Simplify (+ 0) into 0 39.609 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.609 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.609 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.610 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.610 * [backup-simplify]: Simplify (- 0) into 0 39.610 * [backup-simplify]: Simplify (+ 0 0) into 0 39.610 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.610 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into 0 39.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 39.611 * [backup-simplify]: Simplify (+ 0) into 0 39.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.611 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.612 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.612 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.612 * [backup-simplify]: Simplify (- 0) into 0 39.613 * [backup-simplify]: Simplify (+ 0 0) into 0 39.613 * [backup-simplify]: Simplify (+ 0) into 0 39.613 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.613 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.614 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.615 * [backup-simplify]: Simplify (+ 0 0) into 0 39.615 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.615 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into 0 39.615 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 39.616 * [backup-simplify]: Simplify (+ 0 0) into 0 39.616 * [backup-simplify]: Simplify (- 0) into 0 39.616 * [backup-simplify]: Simplify (+ 0 0) into 0 39.618 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) (/ 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)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 39.620 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 39.620 * [taylor]: Taking taylor expansion of (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) in phi1 39.620 * [taylor]: Taking taylor expansion of 2 in phi1 39.620 * [backup-simplify]: Simplify 2 into 2 39.620 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) in phi1 39.620 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))))) in phi1 39.620 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi1 39.620 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.620 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.620 * [backup-simplify]: Simplify -0.5 into -0.5 39.620 * [taylor]: Taking taylor expansion of phi2 in phi1 39.620 * [backup-simplify]: Simplify phi2 into phi2 39.620 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.620 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.620 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi1 39.620 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.620 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.620 * [backup-simplify]: Simplify -0.5 into -0.5 39.620 * [taylor]: Taking taylor expansion of phi2 in phi1 39.620 * [backup-simplify]: Simplify phi2 into phi2 39.620 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.620 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.620 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi1 39.620 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.621 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.621 * [backup-simplify]: Simplify -0.5 into -0.5 39.621 * [taylor]: Taking taylor expansion of phi1 in phi1 39.621 * [backup-simplify]: Simplify 0 into 0 39.621 * [backup-simplify]: Simplify 1 into 1 39.621 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.621 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.621 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.621 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.621 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.621 * [backup-simplify]: Simplify -0.5 into -0.5 39.621 * [taylor]: Taking taylor expansion of phi1 in phi1 39.621 * [backup-simplify]: Simplify 0 into 0 39.621 * [backup-simplify]: Simplify 1 into 1 39.622 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.622 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.622 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))))) in phi1 39.622 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)))) in phi1 39.622 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1))) in phi1 39.622 * [taylor]: Taking taylor expansion of R in phi1 39.622 * [backup-simplify]: Simplify R into R 39.622 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) phi1)) in phi1 39.622 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 39.622 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.622 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.622 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.622 * [backup-simplify]: Simplify -0.5 into -0.5 39.622 * [taylor]: Taking taylor expansion of phi1 in phi1 39.622 * [backup-simplify]: Simplify 0 into 0 39.622 * [backup-simplify]: Simplify 1 into 1 39.622 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.623 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.623 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) phi1) in phi1 39.623 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 39.623 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.623 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.623 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.623 * [backup-simplify]: Simplify -0.5 into -0.5 39.623 * [taylor]: Taking taylor expansion of phi2 in phi1 39.623 * [backup-simplify]: Simplify phi2 into phi2 39.623 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.623 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.623 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.623 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.623 * [backup-simplify]: Simplify (- 0) into 0 39.623 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.623 * [taylor]: Taking taylor expansion of phi1 in phi1 39.623 * [backup-simplify]: Simplify 0 into 0 39.623 * [backup-simplify]: Simplify 1 into 1 39.623 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1))) in phi1 39.623 * [taylor]: Taking taylor expansion of R in phi1 39.623 * [backup-simplify]: Simplify R into R 39.623 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) phi1)) in phi1 39.623 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 39.623 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.623 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.624 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.624 * [backup-simplify]: Simplify -0.5 into -0.5 39.624 * [taylor]: Taking taylor expansion of phi1 in phi1 39.624 * [backup-simplify]: Simplify 0 into 0 39.624 * [backup-simplify]: Simplify 1 into 1 39.624 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.624 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.624 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) phi1) in phi1 39.624 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 39.624 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.624 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.624 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.624 * [backup-simplify]: Simplify -0.5 into -0.5 39.624 * [taylor]: Taking taylor expansion of phi2 in phi1 39.624 * [backup-simplify]: Simplify phi2 into phi2 39.624 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.624 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.624 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.624 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.624 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.625 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.625 * [taylor]: Taking taylor expansion of phi1 in phi1 39.625 * [backup-simplify]: Simplify 0 into 0 39.625 * [backup-simplify]: Simplify 1 into 1 39.625 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))))) in phi1 39.625 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))))) in phi1 39.625 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.625 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.625 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.625 * [backup-simplify]: Simplify -0.5 into -0.5 39.625 * [taylor]: Taking taylor expansion of phi1 in phi1 39.625 * [backup-simplify]: Simplify 0 into 0 39.625 * [backup-simplify]: Simplify 1 into 1 39.625 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.625 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.625 * [taylor]: Taking taylor expansion of (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1)))) in phi1 39.625 * [taylor]: Taking taylor expansion of R in phi1 39.625 * [backup-simplify]: Simplify R into R 39.625 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1))) in phi1 39.625 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.625 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.625 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.625 * [backup-simplify]: Simplify -0.5 into -0.5 39.625 * [taylor]: Taking taylor expansion of phi1 in phi1 39.625 * [backup-simplify]: Simplify 0 into 0 39.625 * [backup-simplify]: Simplify 1 into 1 39.626 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.626 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.626 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) phi1)) in phi1 39.626 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.626 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.626 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.626 * [backup-simplify]: Simplify -0.5 into -0.5 39.626 * [taylor]: Taking taylor expansion of phi2 in phi1 39.626 * [backup-simplify]: Simplify phi2 into phi2 39.626 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.626 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.626 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.626 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) phi1) in phi1 39.626 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.626 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.626 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.626 * [backup-simplify]: Simplify -0.5 into -0.5 39.626 * [taylor]: Taking taylor expansion of phi2 in phi1 39.626 * [backup-simplify]: Simplify phi2 into phi2 39.626 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.626 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.626 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.626 * [taylor]: Taking taylor expansion of phi1 in phi1 39.626 * [backup-simplify]: Simplify 0 into 0 39.626 * [backup-simplify]: Simplify 1 into 1 39.626 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))))) in phi1 39.626 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.626 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.626 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.626 * [backup-simplify]: Simplify -0.5 into -0.5 39.626 * [taylor]: Taking taylor expansion of phi1 in phi1 39.626 * [backup-simplify]: Simplify 0 into 0 39.627 * [backup-simplify]: Simplify 1 into 1 39.627 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.627 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.627 * [taylor]: Taking taylor expansion of (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)))) in phi1 39.627 * [taylor]: Taking taylor expansion of R in phi1 39.627 * [backup-simplify]: Simplify R into R 39.627 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1))) in phi1 39.627 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.627 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.627 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.627 * [backup-simplify]: Simplify -0.5 into -0.5 39.627 * [taylor]: Taking taylor expansion of phi1 in phi1 39.627 * [backup-simplify]: Simplify 0 into 0 39.627 * [backup-simplify]: Simplify 1 into 1 39.627 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.627 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.627 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) phi1)) in phi1 39.627 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.628 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.628 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.628 * [backup-simplify]: Simplify -0.5 into -0.5 39.628 * [taylor]: Taking taylor expansion of phi2 in phi1 39.628 * [backup-simplify]: Simplify phi2 into phi2 39.628 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.628 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.628 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.628 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) phi1) in phi1 39.628 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.628 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.628 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.628 * [backup-simplify]: Simplify -0.5 into -0.5 39.628 * [taylor]: Taking taylor expansion of phi2 in phi1 39.628 * [backup-simplify]: Simplify phi2 into phi2 39.628 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.628 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.628 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.628 * [taylor]: Taking taylor expansion of phi1 in phi1 39.628 * [backup-simplify]: Simplify 0 into 0 39.628 * [backup-simplify]: Simplify 1 into 1 39.628 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.628 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.628 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.628 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.628 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.629 * [backup-simplify]: Simplify (- 0) into 0 39.629 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 39.629 * [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)))) 39.629 * [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))))) 39.629 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.629 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.630 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) 0) into 0 39.630 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) 0) into 0 39.630 * [backup-simplify]: Simplify (* R 0) into 0 39.630 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.630 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.630 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) 0) into 0 39.630 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) 0) into 0 39.630 * [backup-simplify]: Simplify (* R 0) into 0 39.630 * [backup-simplify]: Simplify (+ 0 0) into 0 39.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.631 * [backup-simplify]: Simplify (- 0) into 0 39.631 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.631 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.631 * [backup-simplify]: Simplify (* R 0) into 0 39.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.632 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.632 * [backup-simplify]: Simplify (- 0) into 0 39.632 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.632 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.632 * [backup-simplify]: Simplify (* R 0) into 0 39.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.633 * [backup-simplify]: Simplify (+ 0 0) into 0 39.633 * [backup-simplify]: Simplify (- 0) into 0 39.633 * [backup-simplify]: Simplify (+ 0 0) into 0 39.633 * [backup-simplify]: Simplify (+ 0) into 0 39.634 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.634 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.635 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.635 * [backup-simplify]: Simplify (- 0) into 0 39.635 * [backup-simplify]: Simplify (+ 0 0) into 0 39.635 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.636 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 1) (* 0 0)) into (pow (cos (/ -0.5 phi2)) 2) 39.636 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.636 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* 0 0)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) 39.637 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) (* 0 0)) into (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) 39.637 * [backup-simplify]: Simplify (+ 0) into 0 39.637 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.638 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.638 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.639 * [backup-simplify]: Simplify (+ 0 0) into 0 39.639 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.639 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 1) (* 0 0)) into (pow (sin (/ -0.5 phi2)) 2) 39.639 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.640 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (* 0 0)) into (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) 39.640 * [backup-simplify]: Simplify (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* 0 0)) into (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 39.641 * [backup-simplify]: Simplify (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) 39.641 * [backup-simplify]: Simplify (+ 0) into 0 39.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.642 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.642 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.643 * [backup-simplify]: Simplify (+ 0 0) into 0 39.643 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 1) (* 0 0)) into (sin (/ -0.5 phi2)) 39.643 * [backup-simplify]: Simplify (+ 0) into 0 39.644 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.644 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.645 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.645 * [backup-simplify]: Simplify (- 0) into 0 39.645 * [backup-simplify]: Simplify (+ 0 0) into 0 39.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) 39.646 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 39.646 * [backup-simplify]: Simplify (+ (* R (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* 0 0)) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))) 39.647 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) 39.647 * [backup-simplify]: Simplify (+ 0) into 0 39.647 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.647 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.648 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.648 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.649 * [backup-simplify]: Simplify (- 0) into 0 39.649 * [backup-simplify]: Simplify (+ 0 0) into 0 39.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 1) (* 0 0)) into (cos (/ -0.5 phi2)) 39.649 * [backup-simplify]: Simplify (+ 0) into 0 39.650 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.650 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.650 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.651 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.651 * [backup-simplify]: Simplify (+ 0 0) into 0 39.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) 39.652 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 39.652 * [backup-simplify]: Simplify (+ (* R (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* 0 0)) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R))) 39.653 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) 39.653 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))) 39.654 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))))) into (- (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 39.655 * [backup-simplify]: Simplify (+ (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (- (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 39.657 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))))) 39.657 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) in phi1 39.657 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) in phi1 39.657 * [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)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) in phi1 39.657 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 39.657 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 39.657 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 39.657 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.657 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.657 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.657 * [backup-simplify]: Simplify -0.5 into -0.5 39.657 * [taylor]: Taking taylor expansion of phi2 in phi1 39.657 * [backup-simplify]: Simplify phi2 into phi2 39.657 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.657 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.657 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.657 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.657 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.658 * [backup-simplify]: Simplify (- 0) into 0 39.658 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.658 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 39.658 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.658 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.658 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.658 * [backup-simplify]: Simplify -0.5 into -0.5 39.658 * [taylor]: Taking taylor expansion of phi1 in phi1 39.658 * [backup-simplify]: Simplify 0 into 0 39.658 * [backup-simplify]: Simplify 1 into 1 39.659 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.659 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.659 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 39.659 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 39.659 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.659 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.659 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.659 * [backup-simplify]: Simplify -0.5 into -0.5 39.659 * [taylor]: Taking taylor expansion of phi2 in phi1 39.659 * [backup-simplify]: Simplify phi2 into phi2 39.659 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.659 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.659 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.659 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.659 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.659 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 39.659 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.659 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.659 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.659 * [backup-simplify]: Simplify -0.5 into -0.5 39.659 * [taylor]: Taking taylor expansion of phi1 in phi1 39.659 * [backup-simplify]: Simplify 0 into 0 39.659 * [backup-simplify]: Simplify 1 into 1 39.660 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.660 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.660 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) in phi1 39.660 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 39.660 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.660 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.660 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.660 * [backup-simplify]: Simplify -0.5 into -0.5 39.660 * [taylor]: Taking taylor expansion of phi1 in phi1 39.660 * [backup-simplify]: Simplify 0 into 0 39.660 * [backup-simplify]: Simplify 1 into 1 39.660 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.660 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.660 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 39.660 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.660 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.660 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.660 * [backup-simplify]: Simplify -0.5 into -0.5 39.660 * [taylor]: Taking taylor expansion of phi2 in phi1 39.660 * [backup-simplify]: Simplify phi2 into phi2 39.661 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.661 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.661 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.661 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 39.661 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.661 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.661 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.661 * [backup-simplify]: Simplify -0.5 into -0.5 39.661 * [taylor]: Taking taylor expansion of phi1 in phi1 39.661 * [backup-simplify]: Simplify 0 into 0 39.661 * [backup-simplify]: Simplify 1 into 1 39.661 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.661 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.661 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.661 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.661 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.661 * [backup-simplify]: Simplify -0.5 into -0.5 39.661 * [taylor]: Taking taylor expansion of phi2 in phi1 39.661 * [backup-simplify]: Simplify phi2 into phi2 39.661 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.661 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.661 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.661 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 39.662 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 39.662 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.662 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.662 * [backup-simplify]: Simplify -0.5 into -0.5 39.662 * [taylor]: Taking taylor expansion of phi1 in phi1 39.662 * [backup-simplify]: Simplify 0 into 0 39.662 * [backup-simplify]: Simplify 1 into 1 39.662 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.662 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.662 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 39.662 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 39.662 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.662 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.662 * [backup-simplify]: Simplify -0.5 into -0.5 39.662 * [taylor]: Taking taylor expansion of phi2 in phi1 39.662 * [backup-simplify]: Simplify phi2 into phi2 39.662 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.662 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.662 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.662 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 39.662 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 39.662 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 39.662 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.662 * [backup-simplify]: Simplify -0.5 into -0.5 39.662 * [taylor]: Taking taylor expansion of phi1 in phi1 39.662 * [backup-simplify]: Simplify 0 into 0 39.662 * [backup-simplify]: Simplify 1 into 1 39.663 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 39.663 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.663 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 39.663 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 39.663 * [taylor]: Taking taylor expansion of -0.5 in phi1 39.663 * [backup-simplify]: Simplify -0.5 into -0.5 39.663 * [taylor]: Taking taylor expansion of phi2 in phi1 39.663 * [backup-simplify]: Simplify phi2 into phi2 39.663 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.663 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.663 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.663 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.663 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.664 * [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)) 39.664 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.664 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.664 * [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)) 39.665 * [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))) 39.665 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.665 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.665 * [backup-simplify]: Simplify (- 0) into 0 39.665 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.665 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.666 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 39.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 39.666 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 39.666 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.666 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.666 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.667 * [backup-simplify]: Simplify (- 0) into 0 39.667 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.667 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 39.667 * [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)))) 39.667 * [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))))) 39.668 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -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 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 39.668 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 39.669 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 39.670 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 39.672 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 39.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.672 * [backup-simplify]: Simplify (+ 0) into 0 39.673 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.673 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.674 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.674 * [backup-simplify]: Simplify (- 0) into 0 39.674 * [backup-simplify]: Simplify (+ 0 0) into 0 39.675 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.675 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 39.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.676 * [backup-simplify]: Simplify (+ 0) into 0 39.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.676 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.677 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.678 * [backup-simplify]: Simplify (+ 0 0) into 0 39.678 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.678 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 39.678 * [backup-simplify]: Simplify (+ 0 0) into 0 39.679 * [backup-simplify]: Simplify (+ 0) into 0 39.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.679 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.680 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.680 * [backup-simplify]: Simplify (+ 0 0) into 0 39.680 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.681 * [backup-simplify]: Simplify (+ 0) into 0 39.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.681 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.682 * [backup-simplify]: Simplify (- 0) into 0 39.683 * [backup-simplify]: Simplify (+ 0 0) into 0 39.683 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 39.683 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 39.683 * [backup-simplify]: Simplify (+ 0) into 0 39.684 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.684 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.685 * [backup-simplify]: Simplify (- 0) into 0 39.685 * [backup-simplify]: Simplify (+ 0 0) into 0 39.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.686 * [backup-simplify]: Simplify (+ 0) into 0 39.686 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.686 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.687 * [backup-simplify]: Simplify (+ 0 0) into 0 39.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 39.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 39.688 * [backup-simplify]: Simplify (+ 0 0) into 0 39.688 * [backup-simplify]: Simplify (- 0) into 0 39.688 * [backup-simplify]: Simplify (+ 0 0) into 0 39.690 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 39.692 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 39.694 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) 39.697 * [backup-simplify]: Simplify (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) 39.709 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))))))) 39.712 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))))))) 39.715 * [backup-simplify]: Simplify (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* R (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) (* R (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))))))))) into (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))))))) 39.718 * [backup-simplify]: Simplify (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))))))))) into (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) 39.727 * [backup-simplify]: Simplify (+ (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi1)) 2) R)) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) R))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R)))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) R))))))))) (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) R)) (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi2)) 2) R))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into (- (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))))))))) 39.728 * [taylor]: Taking taylor expansion of (- (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))))))))) in R 39.728 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) in R 39.728 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) in R 39.728 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in R 39.728 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) in R 39.728 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 39.728 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.728 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.728 * [taylor]: Taking taylor expansion of -0.5 in R 39.728 * [backup-simplify]: Simplify -0.5 into -0.5 39.728 * [taylor]: Taking taylor expansion of phi1 in R 39.728 * [backup-simplify]: Simplify phi1 into phi1 39.728 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.728 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.728 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.728 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.728 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.729 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.729 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 39.729 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.729 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.729 * [taylor]: Taking taylor expansion of -0.5 in R 39.729 * [backup-simplify]: Simplify -0.5 into -0.5 39.729 * [taylor]: Taking taylor expansion of phi2 in R 39.729 * [backup-simplify]: Simplify phi2 into phi2 39.729 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.729 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.729 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.729 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.729 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.729 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.729 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in R 39.729 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) in R 39.729 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) in R 39.729 * [taylor]: Taking taylor expansion of R in R 39.729 * [backup-simplify]: Simplify 0 into 0 39.729 * [backup-simplify]: Simplify 1 into 1 39.729 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) in R 39.729 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 39.729 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.729 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.729 * [taylor]: Taking taylor expansion of -0.5 in R 39.729 * [backup-simplify]: Simplify -0.5 into -0.5 39.729 * [taylor]: Taking taylor expansion of phi1 in R 39.729 * [backup-simplify]: Simplify phi1 into phi1 39.729 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.729 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.729 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.729 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.730 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.730 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.730 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 39.730 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.730 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.730 * [taylor]: Taking taylor expansion of -0.5 in R 39.730 * [backup-simplify]: Simplify -0.5 into -0.5 39.730 * [taylor]: Taking taylor expansion of phi2 in R 39.730 * [backup-simplify]: Simplify phi2 into phi2 39.730 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.730 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.730 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.730 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.730 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.730 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.730 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) in R 39.730 * [taylor]: Taking taylor expansion of R in R 39.730 * [backup-simplify]: Simplify 0 into 0 39.730 * [backup-simplify]: Simplify 1 into 1 39.730 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) in R 39.730 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 39.730 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.730 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.730 * [taylor]: Taking taylor expansion of -0.5 in R 39.730 * [backup-simplify]: Simplify -0.5 into -0.5 39.730 * [taylor]: Taking taylor expansion of phi1 in R 39.730 * [backup-simplify]: Simplify phi1 into phi1 39.730 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.730 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.730 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.730 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.731 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.731 * [backup-simplify]: Simplify (- 0) into 0 39.731 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.731 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 39.731 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.731 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.731 * [taylor]: Taking taylor expansion of -0.5 in R 39.731 * [backup-simplify]: Simplify -0.5 into -0.5 39.731 * [taylor]: Taking taylor expansion of phi2 in R 39.731 * [backup-simplify]: Simplify phi2 into phi2 39.731 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.731 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.731 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.731 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.732 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.732 * [backup-simplify]: Simplify (- 0) into 0 39.732 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.732 * [taylor]: Taking taylor expansion of (+ (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in R 39.732 * [taylor]: Taking taylor expansion of (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) in R 39.732 * [taylor]: Taking taylor expansion of R in R 39.732 * [backup-simplify]: Simplify 0 into 0 39.732 * [backup-simplify]: Simplify 1 into 1 39.732 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in R 39.732 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.732 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.732 * [taylor]: Taking taylor expansion of -0.5 in R 39.732 * [backup-simplify]: Simplify -0.5 into -0.5 39.732 * [taylor]: Taking taylor expansion of phi1 in R 39.732 * [backup-simplify]: Simplify phi1 into phi1 39.732 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.732 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.732 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.732 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in R 39.732 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.732 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.732 * [taylor]: Taking taylor expansion of -0.5 in R 39.732 * [backup-simplify]: Simplify -0.5 into -0.5 39.732 * [taylor]: Taking taylor expansion of phi2 in R 39.733 * [backup-simplify]: Simplify phi2 into phi2 39.733 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.733 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.733 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.733 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in R 39.733 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.733 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.733 * [taylor]: Taking taylor expansion of -0.5 in R 39.733 * [backup-simplify]: Simplify -0.5 into -0.5 39.733 * [taylor]: Taking taylor expansion of phi2 in R 39.733 * [backup-simplify]: Simplify phi2 into phi2 39.733 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.733 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.733 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.733 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.733 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.733 * [taylor]: Taking taylor expansion of -0.5 in R 39.733 * [backup-simplify]: Simplify -0.5 into -0.5 39.733 * [taylor]: Taking taylor expansion of phi1 in R 39.733 * [backup-simplify]: Simplify phi1 into phi1 39.733 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.733 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.733 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.733 * [taylor]: Taking taylor expansion of (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in R 39.733 * [taylor]: Taking taylor expansion of R in R 39.733 * [backup-simplify]: Simplify 0 into 0 39.733 * [backup-simplify]: Simplify 1 into 1 39.733 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in R 39.733 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.733 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.733 * [taylor]: Taking taylor expansion of -0.5 in R 39.733 * [backup-simplify]: Simplify -0.5 into -0.5 39.733 * [taylor]: Taking taylor expansion of phi1 in R 39.733 * [backup-simplify]: Simplify phi1 into phi1 39.733 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.733 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.734 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.734 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in R 39.734 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.734 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.734 * [taylor]: Taking taylor expansion of -0.5 in R 39.734 * [backup-simplify]: Simplify -0.5 into -0.5 39.734 * [taylor]: Taking taylor expansion of phi2 in R 39.734 * [backup-simplify]: Simplify phi2 into phi2 39.734 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.734 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.734 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.734 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in R 39.734 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.734 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.734 * [taylor]: Taking taylor expansion of -0.5 in R 39.734 * [backup-simplify]: Simplify -0.5 into -0.5 39.734 * [taylor]: Taking taylor expansion of phi2 in R 39.734 * [backup-simplify]: Simplify phi2 into phi2 39.734 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.734 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.734 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.734 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.734 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.734 * [taylor]: Taking taylor expansion of -0.5 in R 39.734 * [backup-simplify]: Simplify -0.5 into -0.5 39.734 * [taylor]: Taking taylor expansion of phi1 in R 39.734 * [backup-simplify]: Simplify phi1 into phi1 39.734 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.734 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.734 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.734 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.735 * [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)) 39.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.735 * [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)) 39.735 * [backup-simplify]: Simplify (* 0 (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) into 0 39.736 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.736 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.736 * [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)) 39.736 * [backup-simplify]: Simplify (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) into 0 39.736 * [backup-simplify]: Simplify (+ 0 0) into 0 39.737 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.737 * [backup-simplify]: Simplify (- 0) into 0 39.737 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.737 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.737 * [backup-simplify]: Simplify (- 0) into 0 39.737 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.738 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.738 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.738 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.738 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.738 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 39.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 39.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 39.739 * [backup-simplify]: Simplify (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 39.739 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.739 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.739 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.739 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.739 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.739 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.739 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.739 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.739 * [backup-simplify]: Simplify (- 0) into 0 39.739 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.740 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.740 * [backup-simplify]: Simplify (- 0) into 0 39.740 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 39.740 * [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)))) 39.741 * [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))))) 39.741 * [backup-simplify]: Simplify (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 39.741 * [backup-simplify]: Simplify (+ 0 0) into 0 39.741 * [backup-simplify]: Simplify (- 0) into 0 39.742 * [backup-simplify]: Simplify (+ 0 0) into 0 39.742 * [backup-simplify]: Simplify (+ 0) into 0 39.742 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.742 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.743 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.744 * [backup-simplify]: Simplify (+ 0 0) into 0 39.744 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.744 * [backup-simplify]: Simplify (+ 0) into 0 39.744 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.744 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.745 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.745 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.745 * [backup-simplify]: Simplify (+ 0 0) into 0 39.746 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.746 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 39.746 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (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)) 39.747 * [backup-simplify]: Simplify (+ 0) into 0 39.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.747 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.748 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.748 * [backup-simplify]: Simplify (- 0) into 0 39.748 * [backup-simplify]: Simplify (+ 0 0) into 0 39.749 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.749 * [backup-simplify]: Simplify (+ 0) into 0 39.749 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.749 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.750 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.750 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.750 * [backup-simplify]: Simplify (- 0) into 0 39.751 * [backup-simplify]: Simplify (+ 0 0) into 0 39.751 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.751 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 39.752 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (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)) 39.752 * [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 (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) 39.752 * [backup-simplify]: Simplify (+ 0) into 0 39.753 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.753 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.753 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.754 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.754 * [backup-simplify]: Simplify (+ 0 0) into 0 39.754 * [backup-simplify]: Simplify (+ 0) into 0 39.754 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.755 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.755 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.755 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.756 * [backup-simplify]: Simplify (+ 0 0) into 0 39.756 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.756 * [backup-simplify]: Simplify (+ 0) into 0 39.756 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.757 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.757 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.757 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.758 * [backup-simplify]: Simplify (- 0) into 0 39.758 * [backup-simplify]: Simplify (+ 0 0) into 0 39.758 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 39.758 * [backup-simplify]: Simplify (+ 0) into 0 39.759 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.759 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.759 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.760 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.760 * [backup-simplify]: Simplify (- 0) into 0 39.760 * [backup-simplify]: Simplify (+ 0 0) into 0 39.760 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 39.761 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 39.761 * [backup-simplify]: Simplify (+ 0) into 0 39.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.762 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.762 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.762 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.763 * [backup-simplify]: Simplify (- 0) into 0 39.763 * [backup-simplify]: Simplify (+ 0 0) into 0 39.763 * [backup-simplify]: Simplify (+ 0) into 0 39.764 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.764 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.765 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.765 * [backup-simplify]: Simplify (- 0) into 0 39.765 * [backup-simplify]: Simplify (+ 0 0) into 0 39.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.766 * [backup-simplify]: Simplify (+ 0) into 0 39.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.766 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.767 * [backup-simplify]: Simplify (+ 0 0) into 0 39.767 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 39.768 * [backup-simplify]: Simplify (+ 0) into 0 39.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.768 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.769 * [backup-simplify]: Simplify (+ 0 0) into 0 39.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 39.770 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (/ -0.5 phi1)) (* (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)) (cos (/ -0.5 phi1))))) 39.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 39.771 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 39.772 * [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))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 39.773 * [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)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 39.773 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in R 39.773 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in R 39.773 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in R 39.773 * [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 R 39.773 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 39.773 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 39.773 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.773 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.773 * [taylor]: Taking taylor expansion of -0.5 in R 39.773 * [backup-simplify]: Simplify -0.5 into -0.5 39.773 * [taylor]: Taking taylor expansion of phi2 in R 39.773 * [backup-simplify]: Simplify phi2 into phi2 39.773 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.773 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.774 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.774 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.774 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.774 * [backup-simplify]: Simplify (- 0) into 0 39.774 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.774 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 39.774 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.774 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.774 * [taylor]: Taking taylor expansion of -0.5 in R 39.774 * [backup-simplify]: Simplify -0.5 into -0.5 39.774 * [taylor]: Taking taylor expansion of phi1 in R 39.774 * [backup-simplify]: Simplify phi1 into phi1 39.774 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.774 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.774 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.774 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.775 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.775 * [backup-simplify]: Simplify (- 0) into 0 39.775 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.775 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R 39.775 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 39.775 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.775 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.775 * [taylor]: Taking taylor expansion of -0.5 in R 39.775 * [backup-simplify]: Simplify -0.5 into -0.5 39.775 * [taylor]: Taking taylor expansion of phi2 in R 39.775 * [backup-simplify]: Simplify phi2 into phi2 39.775 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.775 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.775 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.775 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.775 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.775 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.775 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 39.775 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.775 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.776 * [taylor]: Taking taylor expansion of -0.5 in R 39.776 * [backup-simplify]: Simplify -0.5 into -0.5 39.776 * [taylor]: Taking taylor expansion of phi1 in R 39.776 * [backup-simplify]: Simplify phi1 into phi1 39.776 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.776 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.776 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.776 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.776 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.776 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in R 39.776 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in R 39.776 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.776 * [taylor]: Taking taylor expansion of -0.5 in R 39.776 * [backup-simplify]: Simplify -0.5 into -0.5 39.776 * [taylor]: Taking taylor expansion of phi2 in R 39.776 * [backup-simplify]: Simplify phi2 into phi2 39.776 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.776 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.776 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in R 39.776 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.776 * [taylor]: Taking taylor expansion of -0.5 in R 39.776 * [backup-simplify]: Simplify -0.5 into -0.5 39.776 * [taylor]: Taking taylor expansion of phi1 in R 39.776 * [backup-simplify]: Simplify phi1 into phi1 39.776 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.776 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.777 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in R 39.777 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.777 * [taylor]: Taking taylor expansion of -0.5 in R 39.777 * [backup-simplify]: Simplify -0.5 into -0.5 39.777 * [taylor]: Taking taylor expansion of phi1 in R 39.777 * [backup-simplify]: Simplify phi1 into phi1 39.777 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.777 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.777 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.777 * [taylor]: Taking taylor expansion of -0.5 in R 39.777 * [backup-simplify]: Simplify -0.5 into -0.5 39.777 * [taylor]: Taking taylor expansion of phi2 in R 39.777 * [backup-simplify]: Simplify phi2 into phi2 39.777 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.777 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.777 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in R 39.777 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.777 * [taylor]: Taking taylor expansion of -0.5 in R 39.777 * [backup-simplify]: Simplify -0.5 into -0.5 39.777 * [taylor]: Taking taylor expansion of phi2 in R 39.777 * [backup-simplify]: Simplify phi2 into phi2 39.777 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.777 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.777 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in R 39.777 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.777 * [taylor]: Taking taylor expansion of -0.5 in R 39.777 * [backup-simplify]: Simplify -0.5 into -0.5 39.777 * [taylor]: Taking taylor expansion of phi1 in R 39.777 * [backup-simplify]: Simplify phi1 into phi1 39.777 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.778 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.778 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.778 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in R 39.778 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.778 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.778 * [taylor]: Taking taylor expansion of -0.5 in R 39.778 * [backup-simplify]: Simplify -0.5 into -0.5 39.778 * [taylor]: Taking taylor expansion of phi1 in R 39.778 * [backup-simplify]: Simplify phi1 into phi1 39.778 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.778 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.778 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.778 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.778 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.778 * [taylor]: Taking taylor expansion of -0.5 in R 39.778 * [backup-simplify]: Simplify -0.5 into -0.5 39.778 * [taylor]: Taking taylor expansion of phi2 in R 39.778 * [backup-simplify]: Simplify phi2 into phi2 39.778 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.778 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.778 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.779 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 39.779 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.779 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.779 * [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)) 39.779 * [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))) 39.779 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.780 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.780 * [backup-simplify]: Simplify (- 0) into 0 39.780 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.780 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.781 * [backup-simplify]: Simplify (- 0) into 0 39.781 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 39.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 39.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 39.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.782 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.782 * [backup-simplify]: Simplify (- 0) into 0 39.782 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.782 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.782 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.782 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.782 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.782 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.782 * [backup-simplify]: Simplify (- 0) into 0 39.783 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.783 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.783 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.783 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.783 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 39.783 * [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)))) 39.783 * [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))))) 39.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 39.784 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 39.785 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 39.786 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) 39.787 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 39.788 * [backup-simplify]: Simplify (+ 0) into 0 39.788 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.788 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.789 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.789 * [backup-simplify]: Simplify (- 0) into 0 39.790 * [backup-simplify]: Simplify (+ 0 0) into 0 39.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.790 * [backup-simplify]: Simplify (+ 0) into 0 39.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.791 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.791 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.791 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.792 * [backup-simplify]: Simplify (- 0) into 0 39.792 * [backup-simplify]: Simplify (+ 0 0) into 0 39.792 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.792 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 39.793 * [backup-simplify]: Simplify (+ 0) into 0 39.793 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.793 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.794 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.794 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.794 * [backup-simplify]: Simplify (+ 0 0) into 0 39.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.794 * [backup-simplify]: Simplify (+ 0) into 0 39.795 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.795 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.796 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.796 * [backup-simplify]: Simplify (+ 0 0) into 0 39.796 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.796 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 39.797 * [backup-simplify]: Simplify (+ 0 0) into 0 39.797 * [backup-simplify]: Simplify (+ 0) into 0 39.797 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.797 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.798 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.798 * [backup-simplify]: Simplify (- 0) into 0 39.799 * [backup-simplify]: Simplify (+ 0 0) into 0 39.799 * [backup-simplify]: Simplify (+ 0) into 0 39.799 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.799 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.800 * [backup-simplify]: Simplify (+ 0 0) into 0 39.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.801 * [backup-simplify]: Simplify (+ 0) into 0 39.801 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.801 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.802 * [backup-simplify]: Simplify (- 0) into 0 39.803 * [backup-simplify]: Simplify (+ 0 0) into 0 39.803 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 39.803 * [backup-simplify]: Simplify (+ 0) into 0 39.803 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.803 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.804 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.804 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.805 * [backup-simplify]: Simplify (+ 0 0) into 0 39.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 39.805 * [backup-simplify]: Simplify (+ 0) into 0 39.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.805 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.806 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.807 * [backup-simplify]: Simplify (+ 0 0) into 0 39.807 * [backup-simplify]: Simplify (+ 0) into 0 39.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.807 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.808 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.808 * [backup-simplify]: Simplify (- 0) into 0 39.809 * [backup-simplify]: Simplify (+ 0 0) into 0 39.809 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.809 * [backup-simplify]: Simplify (+ 0) into 0 39.809 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.809 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.810 * [backup-simplify]: Simplify (+ 0 0) into 0 39.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 39.815 * [backup-simplify]: Simplify (+ 0) into 0 39.816 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.816 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.816 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.817 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.817 * [backup-simplify]: Simplify (- 0) into 0 39.817 * [backup-simplify]: Simplify (+ 0 0) into 0 39.818 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 39.818 * [backup-simplify]: Simplify (+ 0 0) into 0 39.818 * [backup-simplify]: Simplify (- 0) into 0 39.818 * [backup-simplify]: Simplify (+ 0 0) into 0 39.821 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0 39.822 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0 39.822 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) in R 39.822 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))))) in R 39.822 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 39.822 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 39.822 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.822 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.822 * [taylor]: Taking taylor expansion of -0.5 in R 39.822 * [backup-simplify]: Simplify -0.5 into -0.5 39.822 * [taylor]: Taking taylor expansion of phi2 in R 39.822 * [backup-simplify]: Simplify phi2 into phi2 39.822 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.822 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.822 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.822 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.822 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.823 * [backup-simplify]: Simplify (- 0) into 0 39.823 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.823 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 39.823 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.823 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.823 * [taylor]: Taking taylor expansion of -0.5 in R 39.823 * [backup-simplify]: Simplify -0.5 into -0.5 39.823 * [taylor]: Taking taylor expansion of phi1 in R 39.823 * [backup-simplify]: Simplify phi1 into phi1 39.823 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.823 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.823 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.823 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.823 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.824 * [backup-simplify]: Simplify (- 0) into 0 39.824 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.824 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) in R 39.824 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) in R 39.824 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) in R 39.824 * [taylor]: Taking taylor expansion of R in R 39.824 * [backup-simplify]: Simplify 0 into 0 39.824 * [backup-simplify]: Simplify 1 into 1 39.824 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 39.824 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 39.824 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.824 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.824 * [taylor]: Taking taylor expansion of -0.5 in R 39.824 * [backup-simplify]: Simplify -0.5 into -0.5 39.824 * [taylor]: Taking taylor expansion of phi2 in R 39.824 * [backup-simplify]: Simplify phi2 into phi2 39.824 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.824 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.824 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.824 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.825 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.825 * [backup-simplify]: Simplify (- 0) into 0 39.825 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.825 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 39.825 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.825 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.825 * [taylor]: Taking taylor expansion of -0.5 in R 39.825 * [backup-simplify]: Simplify -0.5 into -0.5 39.825 * [taylor]: Taking taylor expansion of phi1 in R 39.825 * [backup-simplify]: Simplify phi1 into phi1 39.825 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.826 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.826 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.826 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.826 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.826 * [backup-simplify]: Simplify (- 0) into 0 39.826 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.826 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R 39.826 * [taylor]: Taking taylor expansion of R in R 39.826 * [backup-simplify]: Simplify 0 into 0 39.827 * [backup-simplify]: Simplify 1 into 1 39.827 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R 39.827 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 39.827 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.827 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.827 * [taylor]: Taking taylor expansion of -0.5 in R 39.827 * [backup-simplify]: Simplify -0.5 into -0.5 39.827 * [taylor]: Taking taylor expansion of phi2 in R 39.827 * [backup-simplify]: Simplify phi2 into phi2 39.827 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.827 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.827 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.827 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.827 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 39.827 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.827 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.827 * [taylor]: Taking taylor expansion of -0.5 in R 39.827 * [backup-simplify]: Simplify -0.5 into -0.5 39.827 * [taylor]: Taking taylor expansion of phi1 in R 39.827 * [backup-simplify]: Simplify phi1 into phi1 39.828 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.828 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.828 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.828 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.828 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.828 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.828 * [taylor]: Taking taylor expansion of (+ (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) in R 39.828 * [taylor]: Taking taylor expansion of (* R (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in R 39.828 * [taylor]: Taking taylor expansion of R in R 39.828 * [backup-simplify]: Simplify 0 into 0 39.828 * [backup-simplify]: Simplify 1 into 1 39.828 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in R 39.828 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.828 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.828 * [taylor]: Taking taylor expansion of -0.5 in R 39.828 * [backup-simplify]: Simplify -0.5 into -0.5 39.828 * [taylor]: Taking taylor expansion of phi1 in R 39.828 * [backup-simplify]: Simplify phi1 into phi1 39.828 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.829 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in R 39.829 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.829 * [taylor]: Taking taylor expansion of -0.5 in R 39.829 * [backup-simplify]: Simplify -0.5 into -0.5 39.829 * [taylor]: Taking taylor expansion of phi2 in R 39.829 * [backup-simplify]: Simplify phi2 into phi2 39.829 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.829 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in R 39.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.829 * [taylor]: Taking taylor expansion of -0.5 in R 39.829 * [backup-simplify]: Simplify -0.5 into -0.5 39.829 * [taylor]: Taking taylor expansion of phi2 in R 39.829 * [backup-simplify]: Simplify phi2 into phi2 39.829 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.830 * [taylor]: Taking taylor expansion of -0.5 in R 39.830 * [backup-simplify]: Simplify -0.5 into -0.5 39.830 * [taylor]: Taking taylor expansion of phi1 in R 39.830 * [backup-simplify]: Simplify phi1 into phi1 39.830 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.830 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.830 * [taylor]: Taking taylor expansion of (* R (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) in R 39.830 * [taylor]: Taking taylor expansion of R in R 39.830 * [backup-simplify]: Simplify 0 into 0 39.830 * [backup-simplify]: Simplify 1 into 1 39.830 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in R 39.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.830 * [taylor]: Taking taylor expansion of -0.5 in R 39.830 * [backup-simplify]: Simplify -0.5 into -0.5 39.830 * [taylor]: Taking taylor expansion of phi1 in R 39.830 * [backup-simplify]: Simplify phi1 into phi1 39.830 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.830 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.831 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in R 39.831 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.831 * [taylor]: Taking taylor expansion of -0.5 in R 39.831 * [backup-simplify]: Simplify -0.5 into -0.5 39.831 * [taylor]: Taking taylor expansion of phi2 in R 39.831 * [backup-simplify]: Simplify phi2 into phi2 39.831 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.831 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in R 39.831 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.831 * [taylor]: Taking taylor expansion of -0.5 in R 39.831 * [backup-simplify]: Simplify -0.5 into -0.5 39.831 * [taylor]: Taking taylor expansion of phi2 in R 39.831 * [backup-simplify]: Simplify phi2 into phi2 39.831 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.831 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.831 * [taylor]: Taking taylor expansion of -0.5 in R 39.831 * [backup-simplify]: Simplify -0.5 into -0.5 39.832 * [taylor]: Taking taylor expansion of phi1 in R 39.832 * [backup-simplify]: Simplify phi1 into phi1 39.832 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.833 * [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)) 39.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.833 * [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)) 39.834 * [backup-simplify]: Simplify (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) into 0 39.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.834 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 39.835 * [backup-simplify]: Simplify (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into 0 39.835 * [backup-simplify]: Simplify (+ 0 0) into 0 39.835 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.836 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.836 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.837 * [backup-simplify]: Simplify (- 0) into 0 39.837 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.837 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.837 * [backup-simplify]: Simplify (- 0) into 0 39.837 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 39.838 * [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)))) 39.838 * [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))))) 39.839 * [backup-simplify]: Simplify (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 39.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.839 * [backup-simplify]: Simplify (- 0) into 0 39.839 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.840 * [backup-simplify]: Simplify (- 0) into 0 39.840 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.840 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.840 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 39.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 39.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 39.841 * [backup-simplify]: Simplify (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 39.841 * [backup-simplify]: Simplify (+ 0 0) into 0 39.842 * [backup-simplify]: Simplify (- 0) into 0 39.842 * [backup-simplify]: Simplify (+ 0 0) into 0 39.842 * [backup-simplify]: Simplify (+ 0) into 0 39.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.843 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.843 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.844 * [backup-simplify]: Simplify (- 0) into 0 39.844 * [backup-simplify]: Simplify (+ 0 0) into 0 39.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.844 * [backup-simplify]: Simplify (+ 0) into 0 39.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.845 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.845 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.846 * [backup-simplify]: Simplify (- 0) into 0 39.846 * [backup-simplify]: Simplify (+ 0 0) into 0 39.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.847 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 39.847 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (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)) 39.847 * [backup-simplify]: Simplify (+ 0) into 0 39.848 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.848 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.849 * [backup-simplify]: Simplify (+ 0 0) into 0 39.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.849 * [backup-simplify]: Simplify (+ 0) into 0 39.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.850 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.850 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.851 * [backup-simplify]: Simplify (+ 0 0) into 0 39.851 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.851 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 39.852 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (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)) 39.852 * [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))) 39.853 * [backup-simplify]: Simplify (+ 0) into 0 39.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.853 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.854 * [backup-simplify]: Simplify (- 0) into 0 39.854 * [backup-simplify]: Simplify (+ 0 0) into 0 39.855 * [backup-simplify]: Simplify (+ 0) into 0 39.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.855 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.856 * [backup-simplify]: Simplify (- 0) into 0 39.857 * [backup-simplify]: Simplify (+ 0 0) into 0 39.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.857 * [backup-simplify]: Simplify (+ 0) into 0 39.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.858 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.858 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.859 * [backup-simplify]: Simplify (+ 0 0) into 0 39.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 39.859 * [backup-simplify]: Simplify (+ 0) into 0 39.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.860 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.860 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.861 * [backup-simplify]: Simplify (+ 0 0) into 0 39.861 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 39.861 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (cos (/ -0.5 phi1)) (* (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)) (cos (/ -0.5 phi1))))) 39.862 * [backup-simplify]: Simplify (+ 0) into 0 39.862 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.862 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.863 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.863 * [backup-simplify]: Simplify (+ 0 0) into 0 39.864 * [backup-simplify]: Simplify (+ 0) into 0 39.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.864 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.865 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.865 * [backup-simplify]: Simplify (+ 0 0) into 0 39.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.866 * [backup-simplify]: Simplify (+ 0) into 0 39.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.866 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.867 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.867 * [backup-simplify]: Simplify (- 0) into 0 39.867 * [backup-simplify]: Simplify (+ 0 0) into 0 39.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 39.868 * [backup-simplify]: Simplify (+ 0) into 0 39.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.868 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.869 * [backup-simplify]: Simplify (- 0) into 0 39.870 * [backup-simplify]: Simplify (+ 0 0) into 0 39.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 39.870 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 39.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (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))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 39.871 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 39.872 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 39.874 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 39.874 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in R 39.874 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in R 39.874 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in R 39.874 * [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 R 39.874 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 39.874 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 39.874 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.874 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.874 * [taylor]: Taking taylor expansion of -0.5 in R 39.874 * [backup-simplify]: Simplify -0.5 into -0.5 39.874 * [taylor]: Taking taylor expansion of phi2 in R 39.874 * [backup-simplify]: Simplify phi2 into phi2 39.874 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.874 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.874 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.874 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.874 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.875 * [backup-simplify]: Simplify (- 0) into 0 39.875 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.875 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 39.875 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.875 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.875 * [taylor]: Taking taylor expansion of -0.5 in R 39.875 * [backup-simplify]: Simplify -0.5 into -0.5 39.875 * [taylor]: Taking taylor expansion of phi1 in R 39.875 * [backup-simplify]: Simplify phi1 into phi1 39.875 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.875 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.876 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.876 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.876 * [backup-simplify]: Simplify (- 0) into 0 39.876 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.876 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R 39.876 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 39.876 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.876 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.876 * [taylor]: Taking taylor expansion of -0.5 in R 39.876 * [backup-simplify]: Simplify -0.5 into -0.5 39.876 * [taylor]: Taking taylor expansion of phi2 in R 39.876 * [backup-simplify]: Simplify phi2 into phi2 39.876 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.876 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.876 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.877 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.877 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.877 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 39.877 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.877 * [taylor]: Taking taylor expansion of -0.5 in R 39.877 * [backup-simplify]: Simplify -0.5 into -0.5 39.877 * [taylor]: Taking taylor expansion of phi1 in R 39.877 * [backup-simplify]: Simplify phi1 into phi1 39.877 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.877 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.877 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.877 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.877 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.877 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.877 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in R 39.877 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in R 39.877 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.877 * [taylor]: Taking taylor expansion of -0.5 in R 39.877 * [backup-simplify]: Simplify -0.5 into -0.5 39.877 * [taylor]: Taking taylor expansion of phi2 in R 39.877 * [backup-simplify]: Simplify phi2 into phi2 39.877 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.877 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.877 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.877 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in R 39.877 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.878 * [taylor]: Taking taylor expansion of -0.5 in R 39.878 * [backup-simplify]: Simplify -0.5 into -0.5 39.878 * [taylor]: Taking taylor expansion of phi1 in R 39.878 * [backup-simplify]: Simplify phi1 into phi1 39.878 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.878 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in R 39.878 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.878 * [taylor]: Taking taylor expansion of -0.5 in R 39.878 * [backup-simplify]: Simplify -0.5 into -0.5 39.878 * [taylor]: Taking taylor expansion of phi1 in R 39.878 * [backup-simplify]: Simplify phi1 into phi1 39.878 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.878 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.878 * [taylor]: Taking taylor expansion of -0.5 in R 39.878 * [backup-simplify]: Simplify -0.5 into -0.5 39.878 * [taylor]: Taking taylor expansion of phi2 in R 39.878 * [backup-simplify]: Simplify phi2 into phi2 39.878 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.878 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in R 39.878 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.878 * [taylor]: Taking taylor expansion of -0.5 in R 39.878 * [backup-simplify]: Simplify -0.5 into -0.5 39.878 * [taylor]: Taking taylor expansion of phi2 in R 39.878 * [backup-simplify]: Simplify phi2 into phi2 39.878 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.879 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.879 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in R 39.879 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.879 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.879 * [taylor]: Taking taylor expansion of -0.5 in R 39.879 * [backup-simplify]: Simplify -0.5 into -0.5 39.879 * [taylor]: Taking taylor expansion of phi1 in R 39.879 * [backup-simplify]: Simplify phi1 into phi1 39.879 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.879 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.879 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.879 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in R 39.879 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.879 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.879 * [taylor]: Taking taylor expansion of -0.5 in R 39.879 * [backup-simplify]: Simplify -0.5 into -0.5 39.879 * [taylor]: Taking taylor expansion of phi1 in R 39.879 * [backup-simplify]: Simplify phi1 into phi1 39.879 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.879 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.879 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.879 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.879 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.879 * [taylor]: Taking taylor expansion of -0.5 in R 39.879 * [backup-simplify]: Simplify -0.5 into -0.5 39.879 * [taylor]: Taking taylor expansion of phi2 in R 39.879 * [backup-simplify]: Simplify phi2 into phi2 39.879 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.879 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.879 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.880 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.880 * [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)) 39.880 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.880 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.880 * [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)) 39.881 * [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))) 39.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.881 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.881 * [backup-simplify]: Simplify (- 0) into 0 39.882 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.882 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.882 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.882 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.882 * [backup-simplify]: Simplify (- 0) into 0 39.882 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.882 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 39.882 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) 39.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 39.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.883 * [backup-simplify]: Simplify (- 0) into 0 39.883 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.883 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.884 * [backup-simplify]: Simplify (- 0) into 0 39.884 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.884 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 39.884 * [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)))) 39.885 * [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))))) 39.885 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 39.885 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 39.887 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) 39.888 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) 39.889 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) 39.889 * [backup-simplify]: Simplify (+ 0) into 0 39.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.890 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.890 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.891 * [backup-simplify]: Simplify (- 0) into 0 39.891 * [backup-simplify]: Simplify (+ 0 0) into 0 39.891 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.892 * [backup-simplify]: Simplify (+ 0) into 0 39.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.892 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.893 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.893 * [backup-simplify]: Simplify (- 0) into 0 39.893 * [backup-simplify]: Simplify (+ 0 0) into 0 39.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.894 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 39.894 * [backup-simplify]: Simplify (+ 0) into 0 39.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.895 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.896 * [backup-simplify]: Simplify (+ 0 0) into 0 39.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.896 * [backup-simplify]: Simplify (+ 0) into 0 39.897 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.897 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.897 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.898 * [backup-simplify]: Simplify (+ 0 0) into 0 39.898 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.898 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 39.898 * [backup-simplify]: Simplify (+ 0 0) into 0 39.899 * [backup-simplify]: Simplify (+ 0) into 0 39.899 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.899 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.900 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.900 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.900 * [backup-simplify]: Simplify (- 0) into 0 39.900 * [backup-simplify]: Simplify (+ 0 0) into 0 39.901 * [backup-simplify]: Simplify (+ 0) into 0 39.901 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.901 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.902 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.902 * [backup-simplify]: Simplify (+ 0 0) into 0 39.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.903 * [backup-simplify]: Simplify (+ 0) into 0 39.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.903 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.904 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.904 * [backup-simplify]: Simplify (- 0) into 0 39.904 * [backup-simplify]: Simplify (+ 0 0) into 0 39.905 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 39.905 * [backup-simplify]: Simplify (+ 0) into 0 39.905 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.905 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.906 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.906 * [backup-simplify]: Simplify (+ 0 0) into 0 39.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 39.907 * [backup-simplify]: Simplify (+ 0) into 0 39.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.907 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.908 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.908 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.908 * [backup-simplify]: Simplify (+ 0 0) into 0 39.909 * [backup-simplify]: Simplify (+ 0) into 0 39.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.909 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.910 * [backup-simplify]: Simplify (- 0) into 0 39.911 * [backup-simplify]: Simplify (+ 0 0) into 0 39.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.911 * [backup-simplify]: Simplify (+ 0) into 0 39.911 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.911 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.912 * [backup-simplify]: Simplify (+ 0 0) into 0 39.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 39.913 * [backup-simplify]: Simplify (+ 0) into 0 39.913 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.913 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.915 * [backup-simplify]: Simplify (- 0) into 0 39.915 * [backup-simplify]: Simplify (+ 0 0) into 0 39.915 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 39.915 * [backup-simplify]: Simplify (+ 0 0) into 0 39.916 * [backup-simplify]: Simplify (- 0) into 0 39.916 * [backup-simplify]: Simplify (+ 0 0) into 0 39.918 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0 39.919 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0 39.919 * [taylor]: Taking taylor expansion of (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))))))) in R 39.920 * [taylor]: Taking taylor expansion of 2 in R 39.920 * [backup-simplify]: Simplify 2 into 2 39.920 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))))))) in R 39.920 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in R 39.920 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in R 39.920 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in R 39.920 * [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 R 39.920 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 39.920 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 39.920 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.920 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.920 * [taylor]: Taking taylor expansion of -0.5 in R 39.920 * [backup-simplify]: Simplify -0.5 into -0.5 39.920 * [taylor]: Taking taylor expansion of phi2 in R 39.920 * [backup-simplify]: Simplify phi2 into phi2 39.920 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.920 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.920 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.920 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.920 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.921 * [backup-simplify]: Simplify (- 0) into 0 39.921 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.921 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 39.921 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.921 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.921 * [taylor]: Taking taylor expansion of -0.5 in R 39.921 * [backup-simplify]: Simplify -0.5 into -0.5 39.921 * [taylor]: Taking taylor expansion of phi1 in R 39.921 * [backup-simplify]: Simplify phi1 into phi1 39.921 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.921 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.921 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.921 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.921 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.921 * [backup-simplify]: Simplify (- 0) into 0 39.921 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.922 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R 39.922 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 39.922 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.922 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.922 * [taylor]: Taking taylor expansion of -0.5 in R 39.922 * [backup-simplify]: Simplify -0.5 into -0.5 39.922 * [taylor]: Taking taylor expansion of phi2 in R 39.922 * [backup-simplify]: Simplify phi2 into phi2 39.922 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.922 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.922 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.922 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.922 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 39.922 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.922 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.922 * [taylor]: Taking taylor expansion of -0.5 in R 39.922 * [backup-simplify]: Simplify -0.5 into -0.5 39.922 * [taylor]: Taking taylor expansion of phi1 in R 39.922 * [backup-simplify]: Simplify phi1 into phi1 39.922 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.922 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.922 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.922 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.922 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in R 39.923 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in R 39.923 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.923 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.923 * [taylor]: Taking taylor expansion of -0.5 in R 39.923 * [backup-simplify]: Simplify -0.5 into -0.5 39.923 * [taylor]: Taking taylor expansion of phi1 in R 39.923 * [backup-simplify]: Simplify phi1 into phi1 39.923 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.923 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.923 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.923 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in R 39.923 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.923 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.923 * [taylor]: Taking taylor expansion of -0.5 in R 39.923 * [backup-simplify]: Simplify -0.5 into -0.5 39.923 * [taylor]: Taking taylor expansion of phi2 in R 39.923 * [backup-simplify]: Simplify phi2 into phi2 39.923 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.923 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.923 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.923 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in R 39.923 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.923 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.923 * [taylor]: Taking taylor expansion of -0.5 in R 39.923 * [backup-simplify]: Simplify -0.5 into -0.5 39.923 * [taylor]: Taking taylor expansion of phi2 in R 39.923 * [backup-simplify]: Simplify phi2 into phi2 39.923 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.923 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.923 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.923 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.923 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.923 * [taylor]: Taking taylor expansion of -0.5 in R 39.923 * [backup-simplify]: Simplify -0.5 into -0.5 39.923 * [taylor]: Taking taylor expansion of phi1 in R 39.923 * [backup-simplify]: Simplify phi1 into phi1 39.923 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.924 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.924 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.924 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in R 39.924 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.924 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.924 * [taylor]: Taking taylor expansion of -0.5 in R 39.924 * [backup-simplify]: Simplify -0.5 into -0.5 39.924 * [taylor]: Taking taylor expansion of phi1 in R 39.924 * [backup-simplify]: Simplify phi1 into phi1 39.924 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.924 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.924 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.924 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in R 39.924 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.924 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.924 * [taylor]: Taking taylor expansion of -0.5 in R 39.924 * [backup-simplify]: Simplify -0.5 into -0.5 39.924 * [taylor]: Taking taylor expansion of phi2 in R 39.924 * [backup-simplify]: Simplify phi2 into phi2 39.924 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.924 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.924 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.924 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in R 39.924 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.924 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.924 * [taylor]: Taking taylor expansion of -0.5 in R 39.924 * [backup-simplify]: Simplify -0.5 into -0.5 39.924 * [taylor]: Taking taylor expansion of phi2 in R 39.924 * [backup-simplify]: Simplify phi2 into phi2 39.924 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.924 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.924 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.924 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.924 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.924 * [taylor]: Taking taylor expansion of -0.5 in R 39.924 * [backup-simplify]: Simplify -0.5 into -0.5 39.925 * [taylor]: Taking taylor expansion of phi1 in R 39.925 * [backup-simplify]: Simplify phi1 into phi1 39.925 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.925 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.925 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.925 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.925 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.925 * [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)) 39.925 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.925 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.926 * [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)) 39.926 * [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))) 39.926 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.926 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.927 * [backup-simplify]: Simplify (- 0) into 0 39.927 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.927 * [backup-simplify]: Simplify (- 0) into 0 39.927 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.927 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.928 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.928 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.928 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.928 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 39.928 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) 39.928 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 39.928 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.928 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.928 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.928 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.928 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.928 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.929 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.929 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.929 * [backup-simplify]: Simplify (- 0) into 0 39.929 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.929 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.929 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.929 * [backup-simplify]: Simplify (- 0) into 0 39.929 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.930 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 39.930 * [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)))) 39.930 * [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))))) 39.930 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 39.931 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 39.932 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 39.933 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 39.934 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) 39.938 * [backup-simplify]: Simplify (+ 0) into 0 39.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.939 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.940 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.940 * [backup-simplify]: Simplify (- 0) into 0 39.940 * [backup-simplify]: Simplify (+ 0 0) into 0 39.940 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.941 * [backup-simplify]: Simplify (+ 0) into 0 39.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.941 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.942 * [backup-simplify]: Simplify (- 0) into 0 39.943 * [backup-simplify]: Simplify (+ 0 0) into 0 39.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.943 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 39.943 * [backup-simplify]: Simplify (+ 0) into 0 39.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.944 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.944 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.945 * [backup-simplify]: Simplify (+ 0 0) into 0 39.945 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.945 * [backup-simplify]: Simplify (+ 0) into 0 39.946 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.946 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.946 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.947 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.947 * [backup-simplify]: Simplify (+ 0 0) into 0 39.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.947 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 39.948 * [backup-simplify]: Simplify (+ 0 0) into 0 39.948 * [backup-simplify]: Simplify (+ 0) into 0 39.948 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.948 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.949 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.950 * [backup-simplify]: Simplify (+ 0 0) into 0 39.950 * [backup-simplify]: Simplify (+ 0) into 0 39.950 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.950 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.951 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.951 * [backup-simplify]: Simplify (+ 0 0) into 0 39.951 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.952 * [backup-simplify]: Simplify (+ 0) into 0 39.952 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.952 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.953 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.953 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.953 * [backup-simplify]: Simplify (- 0) into 0 39.954 * [backup-simplify]: Simplify (+ 0 0) into 0 39.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 39.954 * [backup-simplify]: Simplify (+ 0) into 0 39.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.954 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.955 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.955 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.956 * [backup-simplify]: Simplify (- 0) into 0 39.956 * [backup-simplify]: Simplify (+ 0 0) into 0 39.956 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 39.956 * [backup-simplify]: Simplify (+ 0) into 0 39.957 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.957 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.957 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.958 * [backup-simplify]: Simplify (- 0) into 0 39.958 * [backup-simplify]: Simplify (+ 0 0) into 0 39.958 * [backup-simplify]: Simplify (+ 0) into 0 39.959 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.959 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.959 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.960 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.960 * [backup-simplify]: Simplify (- 0) into 0 39.960 * [backup-simplify]: Simplify (+ 0 0) into 0 39.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.961 * [backup-simplify]: Simplify (+ 0) into 0 39.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.961 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.962 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.962 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.962 * [backup-simplify]: Simplify (+ 0 0) into 0 39.962 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 39.963 * [backup-simplify]: Simplify (+ 0) into 0 39.963 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.963 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.964 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.964 * [backup-simplify]: Simplify (+ 0 0) into 0 39.964 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 39.965 * [backup-simplify]: Simplify (+ 0 0) into 0 39.965 * [backup-simplify]: Simplify (- 0) into 0 39.965 * [backup-simplify]: Simplify (+ 0 0) into 0 39.968 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 39.969 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 39.969 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))))) in R 39.969 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in R 39.969 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.969 * [taylor]: Taking taylor expansion of -0.5 in R 39.969 * [backup-simplify]: Simplify -0.5 into -0.5 39.969 * [taylor]: Taking taylor expansion of phi2 in R 39.969 * [backup-simplify]: Simplify phi2 into phi2 39.969 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.969 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in R 39.969 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.969 * [taylor]: Taking taylor expansion of -0.5 in R 39.969 * [backup-simplify]: Simplify -0.5 into -0.5 39.969 * [taylor]: Taking taylor expansion of phi2 in R 39.969 * [backup-simplify]: Simplify phi2 into phi2 39.969 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.969 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in R 39.969 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.970 * [taylor]: Taking taylor expansion of -0.5 in R 39.970 * [backup-simplify]: Simplify -0.5 into -0.5 39.970 * [taylor]: Taking taylor expansion of phi1 in R 39.970 * [backup-simplify]: Simplify phi1 into phi1 39.970 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.970 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.970 * [taylor]: Taking taylor expansion of -0.5 in R 39.970 * [backup-simplify]: Simplify -0.5 into -0.5 39.970 * [taylor]: Taking taylor expansion of phi1 in R 39.970 * [backup-simplify]: Simplify phi1 into phi1 39.970 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.970 * [taylor]: Taking taylor expansion of (- (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))))) in R 39.970 * [taylor]: Taking taylor expansion of (+ (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) in R 39.970 * [taylor]: Taking taylor expansion of (* R (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) in R 39.970 * [taylor]: Taking taylor expansion of R in R 39.970 * [backup-simplify]: Simplify 0 into 0 39.970 * [backup-simplify]: Simplify 1 into 1 39.970 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 39.970 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 39.970 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.970 * [taylor]: Taking taylor expansion of -0.5 in R 39.970 * [backup-simplify]: Simplify -0.5 into -0.5 39.970 * [taylor]: Taking taylor expansion of phi2 in R 39.970 * [backup-simplify]: Simplify phi2 into phi2 39.970 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.970 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.970 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.971 * [backup-simplify]: Simplify (- 0) into 0 39.971 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.971 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 39.971 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.971 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.971 * [taylor]: Taking taylor expansion of -0.5 in R 39.971 * [backup-simplify]: Simplify -0.5 into -0.5 39.971 * [taylor]: Taking taylor expansion of phi1 in R 39.971 * [backup-simplify]: Simplify phi1 into phi1 39.971 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.972 * [backup-simplify]: Simplify (- 0) into 0 39.972 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.972 * [taylor]: Taking taylor expansion of (* R (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R 39.972 * [taylor]: Taking taylor expansion of R in R 39.972 * [backup-simplify]: Simplify 0 into 0 39.972 * [backup-simplify]: Simplify 1 into 1 39.972 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R 39.972 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 39.972 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.972 * [taylor]: Taking taylor expansion of -0.5 in R 39.972 * [backup-simplify]: Simplify -0.5 into -0.5 39.972 * [taylor]: Taking taylor expansion of phi2 in R 39.972 * [backup-simplify]: Simplify phi2 into phi2 39.972 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.972 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.972 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.972 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.972 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.973 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.973 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 39.973 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.973 * [taylor]: Taking taylor expansion of -0.5 in R 39.973 * [backup-simplify]: Simplify -0.5 into -0.5 39.973 * [taylor]: Taking taylor expansion of phi1 in R 39.973 * [backup-simplify]: Simplify phi1 into phi1 39.973 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.973 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.973 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.973 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.973 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))))) in R 39.973 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)))) in R 39.973 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.973 * [taylor]: Taking taylor expansion of -0.5 in R 39.973 * [backup-simplify]: Simplify -0.5 into -0.5 39.973 * [taylor]: Taking taylor expansion of phi2 in R 39.973 * [backup-simplify]: Simplify phi2 into phi2 39.973 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.973 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.973 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R))) in R 39.973 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.973 * [taylor]: Taking taylor expansion of -0.5 in R 39.973 * [backup-simplify]: Simplify -0.5 into -0.5 39.974 * [taylor]: Taking taylor expansion of phi1 in R 39.974 * [backup-simplify]: Simplify phi1 into phi1 39.974 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.974 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.974 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) R)) in R 39.974 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.974 * [taylor]: Taking taylor expansion of -0.5 in R 39.974 * [backup-simplify]: Simplify -0.5 into -0.5 39.974 * [taylor]: Taking taylor expansion of phi1 in R 39.974 * [backup-simplify]: Simplify phi1 into phi1 39.974 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.974 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.974 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) R) in R 39.974 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.974 * [taylor]: Taking taylor expansion of -0.5 in R 39.974 * [backup-simplify]: Simplify -0.5 into -0.5 39.974 * [taylor]: Taking taylor expansion of phi2 in R 39.974 * [backup-simplify]: Simplify phi2 into phi2 39.974 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.974 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.974 * [taylor]: Taking taylor expansion of R in R 39.974 * [backup-simplify]: Simplify 0 into 0 39.974 * [backup-simplify]: Simplify 1 into 1 39.974 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)))) in R 39.974 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 39.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.974 * [taylor]: Taking taylor expansion of -0.5 in R 39.974 * [backup-simplify]: Simplify -0.5 into -0.5 39.974 * [taylor]: Taking taylor expansion of phi2 in R 39.974 * [backup-simplify]: Simplify phi2 into phi2 39.974 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.975 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.975 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R))) in R 39.975 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 39.975 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.975 * [taylor]: Taking taylor expansion of -0.5 in R 39.975 * [backup-simplify]: Simplify -0.5 into -0.5 39.975 * [taylor]: Taking taylor expansion of phi1 in R 39.975 * [backup-simplify]: Simplify phi1 into phi1 39.975 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.975 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.975 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.975 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) R)) in R 39.975 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 39.975 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 39.975 * [taylor]: Taking taylor expansion of -0.5 in R 39.975 * [backup-simplify]: Simplify -0.5 into -0.5 39.975 * [taylor]: Taking taylor expansion of phi1 in R 39.975 * [backup-simplify]: Simplify phi1 into phi1 39.975 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 39.975 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 39.975 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 39.975 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) R) in R 39.975 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 39.975 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 39.975 * [taylor]: Taking taylor expansion of -0.5 in R 39.975 * [backup-simplify]: Simplify -0.5 into -0.5 39.975 * [taylor]: Taking taylor expansion of phi2 in R 39.975 * [backup-simplify]: Simplify phi2 into phi2 39.976 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 39.976 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 39.976 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 39.976 * [taylor]: Taking taylor expansion of R in R 39.976 * [backup-simplify]: Simplify 0 into 0 39.978 * [backup-simplify]: Simplify 1 into 1 39.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.978 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.978 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.979 * [backup-simplify]: Simplify (- 0) into 0 39.979 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.979 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.979 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.979 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.979 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.979 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.979 * [backup-simplify]: Simplify (- 0) into 0 39.980 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.980 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 39.980 * [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)))) 39.980 * [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))))) 39.980 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 39.980 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 39.981 * [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)) 39.981 * [backup-simplify]: Simplify (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) into 0 39.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 39.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 39.981 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 39.981 * [backup-simplify]: Simplify (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into 0 39.982 * [backup-simplify]: Simplify (+ 0 0) into 0 39.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.982 * [backup-simplify]: Simplify (- 0) into 0 39.982 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.983 * [backup-simplify]: Simplify (- 0) into 0 39.983 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.983 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.983 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.984 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 39.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.984 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 39.984 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 39.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.984 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 39.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 39.984 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.985 * [backup-simplify]: Simplify (- 0) into 0 39.985 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 39.985 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 39.985 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.985 * [backup-simplify]: Simplify (- 0) into 0 39.985 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 39.985 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 39.985 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 39.985 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 39.985 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 39.986 * [backup-simplify]: Simplify (+ 0 0) into 0 39.986 * [backup-simplify]: Simplify (- 0) into 0 39.986 * [backup-simplify]: Simplify (+ 0 0) into 0 39.986 * [backup-simplify]: Simplify (+ 0) into 0 39.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.987 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.987 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.988 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.988 * [backup-simplify]: Simplify (- 0) into 0 39.988 * [backup-simplify]: Simplify (+ 0 0) into 0 39.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 39.989 * [backup-simplify]: Simplify (+ 0) into 0 39.989 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.989 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.990 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.990 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.990 * [backup-simplify]: Simplify (- 0) into 0 39.991 * [backup-simplify]: Simplify (+ 0 0) into 0 39.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 39.991 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 39.992 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (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)) 39.992 * [backup-simplify]: Simplify (+ 0) into 0 39.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 39.993 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 39.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.994 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 39.994 * [backup-simplify]: Simplify (+ 0 0) into 0 39.994 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 39.994 * [backup-simplify]: Simplify (+ 0) into 0 39.995 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.995 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.996 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.996 * [backup-simplify]: Simplify (+ 0 0) into 0 39.996 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 39.996 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 39.997 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (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)) 39.997 * [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))) 39.998 * [backup-simplify]: Simplify (+ 0) into 0 39.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 39.998 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 39.999 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 39.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 39.999 * [backup-simplify]: Simplify (+ 0 0) into 0 40.000 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 1) (* 0 0)) into (sin (/ -0.5 phi2)) 40.000 * [backup-simplify]: Simplify (+ 0) into 0 40.000 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 40.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 40.001 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 40.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 40.001 * [backup-simplify]: Simplify (+ 0 0) into 0 40.002 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) (* 0 0)) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 40.002 * [backup-simplify]: Simplify (+ 0) into 0 40.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 40.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 40.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 40.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 40.004 * [backup-simplify]: Simplify (- 0) into 0 40.004 * [backup-simplify]: Simplify (+ 0 0) into 0 40.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) (* 0 0)) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) 40.005 * [backup-simplify]: Simplify (+ 0) into 0 40.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 40.005 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 40.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 40.006 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 40.006 * [backup-simplify]: Simplify (- 0) into 0 40.006 * [backup-simplify]: Simplify (+ 0 0) into 0 40.007 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 40.007 * [backup-simplify]: Simplify (+ 0) into 0 40.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 40.008 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 40.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 40.008 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 40.009 * [backup-simplify]: Simplify (- 0) into 0 40.009 * [backup-simplify]: Simplify (+ 0 0) into 0 40.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 1) (* 0 0)) into (cos (/ -0.5 phi2)) 40.010 * [backup-simplify]: Simplify (+ 0) into 0 40.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 40.010 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 40.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 40.011 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 40.011 * [backup-simplify]: Simplify (- 0) into 0 40.011 * [backup-simplify]: Simplify (+ 0 0) into 0 40.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) (* 0 0)) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 40.012 * [backup-simplify]: Simplify (+ 0) into 0 40.012 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 40.012 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 40.013 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 40.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 40.013 * [backup-simplify]: Simplify (+ 0 0) into 0 40.014 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) (* 0 0)) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) 40.014 * [backup-simplify]: Simplify (+ 0) into 0 40.015 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 40.015 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 40.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 40.015 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 40.016 * [backup-simplify]: Simplify (+ 0 0) into 0 40.016 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 40.017 * [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)))))) 40.017 * [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))))))) 40.018 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (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))))))) 40.020 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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)))))))) 40.024 * [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)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) 40.029 * [backup-simplify]: Simplify (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) 40.039 * [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)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 40.044 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 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))))))))) 40.048 * [backup-simplify]: Simplify (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (- (+ (* (pow (cos (/ -0.5 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 (* 2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (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)))))))) (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) 40.053 * [backup-simplify]: Simplify (- (* 2 (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (- (+ (* (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)))))))) (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))))) into (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))))) 40.069 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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 (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (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)))))))) (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))))) 40.088 * [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)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* 2 (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (- (+ (* (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)))))))) (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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))))) into (- (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (- (+ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))))) 40.093 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.094 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.094 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.095 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.096 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.096 * [backup-simplify]: Simplify (- 0) into 0 40.096 * [backup-simplify]: Simplify (+ 0 0) into 0 40.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.098 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.099 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.099 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.100 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.101 * [backup-simplify]: Simplify (- 0) into 0 40.101 * [backup-simplify]: Simplify (+ 0 0) into 0 40.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.102 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.102 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.103 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.103 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.104 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.104 * [backup-simplify]: Simplify (+ 0 0) into 0 40.104 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.105 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.105 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.106 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.106 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.107 * [backup-simplify]: Simplify (+ 0 0) into 0 40.107 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.107 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.108 * [backup-simplify]: Simplify (+ 0 0) into 0 40.108 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.109 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.109 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.109 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.110 * [backup-simplify]: Simplify (+ 0 0) into 0 40.110 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.111 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.111 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.112 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.112 * [backup-simplify]: Simplify (- 0) into 0 40.112 * [backup-simplify]: Simplify (+ 0 0) into 0 40.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.113 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.114 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.114 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.115 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.115 * [backup-simplify]: Simplify (+ 0 0) into 0 40.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 40.116 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.117 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.118 * [backup-simplify]: Simplify (- 0) into 0 40.118 * [backup-simplify]: Simplify (+ 0 0) into 0 40.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 40.119 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.120 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.120 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.120 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.121 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.121 * [backup-simplify]: Simplify (- 0) into 0 40.121 * [backup-simplify]: Simplify (+ 0 0) into 0 40.122 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.122 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.123 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.123 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.123 * [backup-simplify]: Simplify (+ 0 0) into 0 40.124 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.124 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.125 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.125 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.126 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.126 * [backup-simplify]: Simplify (- 0) into 0 40.126 * [backup-simplify]: Simplify (+ 0 0) into 0 40.127 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 40.127 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.128 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.128 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.128 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.129 * [backup-simplify]: Simplify (+ 0 0) into 0 40.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 40.130 * [backup-simplify]: Simplify (+ 0 0) into 0 40.130 * [backup-simplify]: Simplify (- 0) into 0 40.130 * [backup-simplify]: Simplify (+ 0 0) into 0 40.133 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 40.137 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 40.150 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 40.155 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.157 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.158 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.158 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.159 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.159 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.160 * [backup-simplify]: Simplify (- 0) into 0 40.160 * [backup-simplify]: Simplify (+ 0 0) into 0 40.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.162 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.163 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.164 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.165 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.165 * [backup-simplify]: Simplify (- 0) into 0 40.166 * [backup-simplify]: Simplify (+ 0 0) into 0 40.166 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.167 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 40.168 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 4)))) into 0 40.169 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 40.170 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 40.171 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 40.177 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 40.184 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 4) (pow (cos (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (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))))))))))))) into 0 40.185 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.186 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.186 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.187 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.188 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.188 * [backup-simplify]: Simplify (- 0) into 0 40.189 * [backup-simplify]: Simplify (+ 0 0) into 0 40.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.190 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.191 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.191 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.192 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.193 * [backup-simplify]: Simplify (- 0) into 0 40.193 * [backup-simplify]: Simplify (+ 0 0) into 0 40.194 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.195 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.196 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.197 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.198 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.199 * [backup-simplify]: Simplify (+ 0 0) into 0 40.199 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.200 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.202 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.203 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.204 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.204 * [backup-simplify]: Simplify (+ 0 0) into 0 40.204 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.205 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.205 * [backup-simplify]: Simplify (+ 0 0) into 0 40.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.206 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.207 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.208 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.208 * [backup-simplify]: Simplify (+ 0 0) into 0 40.209 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.212 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.213 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.214 * [backup-simplify]: Simplify (- 0) into 0 40.214 * [backup-simplify]: Simplify (+ 0 0) into 0 40.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.215 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.215 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.216 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.216 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.216 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.217 * [backup-simplify]: Simplify (+ 0 0) into 0 40.217 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 40.218 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.218 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.218 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.219 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.219 * [backup-simplify]: Simplify (- 0) into 0 40.220 * [backup-simplify]: Simplify (+ 0 0) into 0 40.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 40.221 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.221 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.221 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.222 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.223 * [backup-simplify]: Simplify (- 0) into 0 40.223 * [backup-simplify]: Simplify (+ 0 0) into 0 40.223 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.225 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.225 * [backup-simplify]: Simplify (+ 0 0) into 0 40.226 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.226 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.227 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.227 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.228 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.228 * [backup-simplify]: Simplify (- 0) into 0 40.228 * [backup-simplify]: Simplify (+ 0 0) into 0 40.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 40.229 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.230 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.230 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.231 * [backup-simplify]: Simplify (+ 0 0) into 0 40.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 40.232 * [backup-simplify]: Simplify (+ 0 0) into 0 40.232 * [backup-simplify]: Simplify (- 0) into 0 40.232 * [backup-simplify]: Simplify (+ 0 0) into 0 40.235 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 40.237 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 40.245 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 40.249 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.250 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.251 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.252 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.252 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.253 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.253 * [backup-simplify]: Simplify (+ 0 0) into 0 40.254 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.255 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.256 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.256 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.257 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.257 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.258 * [backup-simplify]: Simplify (- 0) into 0 40.259 * [backup-simplify]: Simplify (+ 0 0) into 0 40.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.260 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 40.261 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.263 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.263 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.264 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.264 * [backup-simplify]: Simplify (- 0) into 0 40.265 * [backup-simplify]: Simplify (+ 0 0) into 0 40.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.266 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))))) into 0 40.267 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.268 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.268 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.269 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.270 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.270 * [backup-simplify]: Simplify (+ 0 0) into 0 40.271 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.272 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))))) into 0 40.273 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 40.274 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 40.275 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 40.280 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 40.284 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))) R)) (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))))))))))))) into 0 40.285 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.285 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.286 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.286 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.286 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.287 * [backup-simplify]: Simplify (- 0) into 0 40.287 * [backup-simplify]: Simplify (+ 0 0) into 0 40.287 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.288 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.288 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.288 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.289 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.289 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.290 * [backup-simplify]: Simplify (- 0) into 0 40.290 * [backup-simplify]: Simplify (+ 0 0) into 0 40.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.291 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.291 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.292 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.292 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.292 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.293 * [backup-simplify]: Simplify (+ 0 0) into 0 40.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.294 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.294 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.295 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.295 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.295 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.296 * [backup-simplify]: Simplify (+ 0 0) into 0 40.296 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.297 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.297 * [backup-simplify]: Simplify (+ 0 0) into 0 40.297 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.298 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.299 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.299 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.299 * [backup-simplify]: Simplify (+ 0 0) into 0 40.300 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.300 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.301 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.301 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.302 * [backup-simplify]: Simplify (- 0) into 0 40.302 * [backup-simplify]: Simplify (+ 0 0) into 0 40.302 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.303 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.303 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.303 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.304 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.304 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.304 * [backup-simplify]: Simplify (+ 0 0) into 0 40.305 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 40.305 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.306 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.306 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.306 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.307 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.307 * [backup-simplify]: Simplify (- 0) into 0 40.307 * [backup-simplify]: Simplify (+ 0 0) into 0 40.308 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 40.308 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.309 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.309 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.309 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.310 * [backup-simplify]: Simplify (- 0) into 0 40.310 * [backup-simplify]: Simplify (+ 0 0) into 0 40.311 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.311 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.311 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.312 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.312 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.313 * [backup-simplify]: Simplify (+ 0 0) into 0 40.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.313 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.314 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.314 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.315 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.315 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.315 * [backup-simplify]: Simplify (- 0) into 0 40.315 * [backup-simplify]: Simplify (+ 0 0) into 0 40.316 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 40.317 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.318 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.319 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.319 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.320 * [backup-simplify]: Simplify (+ 0 0) into 0 40.321 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 40.321 * [backup-simplify]: Simplify (+ 0 0) into 0 40.321 * [backup-simplify]: Simplify (- 0) into 0 40.322 * [backup-simplify]: Simplify (+ 0 0) into 0 40.328 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.332 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.333 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.334 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.334 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.334 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.335 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.335 * [backup-simplify]: Simplify (+ 0 0) into 0 40.336 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.336 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.336 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.337 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.337 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.337 * [backup-simplify]: Simplify (- 0) into 0 40.338 * [backup-simplify]: Simplify (+ 0 0) into 0 40.338 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.338 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.339 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.339 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.340 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.340 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.340 * [backup-simplify]: Simplify (+ 0 0) into 0 40.341 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 40.341 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.342 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.342 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.342 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.343 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.343 * [backup-simplify]: Simplify (- 0) into 0 40.343 * [backup-simplify]: Simplify (+ 0 0) into 0 40.343 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into 0 40.344 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 40.344 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 40.345 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 40.346 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 40.348 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 40.349 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.350 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.350 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.350 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.351 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.351 * [backup-simplify]: Simplify (- 0) into 0 40.351 * [backup-simplify]: Simplify (+ 0 0) into 0 40.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.352 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.353 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.353 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.354 * [backup-simplify]: Simplify (- 0) into 0 40.354 * [backup-simplify]: Simplify (+ 0 0) into 0 40.355 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.355 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.356 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.357 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.357 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.357 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.358 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.358 * [backup-simplify]: Simplify (+ 0 0) into 0 40.358 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.359 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.359 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.359 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.360 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.361 * [backup-simplify]: Simplify (+ 0 0) into 0 40.362 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.362 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.363 * [backup-simplify]: Simplify (+ 0 0) into 0 40.364 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.365 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.365 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.366 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.366 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.367 * [backup-simplify]: Simplify (+ 0 0) into 0 40.368 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.369 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.370 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.370 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.371 * [backup-simplify]: Simplify (- 0) into 0 40.371 * [backup-simplify]: Simplify (+ 0 0) into 0 40.372 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.373 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.374 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.374 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.375 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.375 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.376 * [backup-simplify]: Simplify (+ 0 0) into 0 40.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 40.377 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.378 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.379 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.379 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.380 * [backup-simplify]: Simplify (- 0) into 0 40.381 * [backup-simplify]: Simplify (+ 0 0) into 0 40.382 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 40.382 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.383 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.384 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.385 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.385 * [backup-simplify]: Simplify (- 0) into 0 40.386 * [backup-simplify]: Simplify (+ 0 0) into 0 40.387 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.387 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.388 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.389 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.389 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.390 * [backup-simplify]: Simplify (+ 0 0) into 0 40.390 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.391 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.392 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.392 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.393 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.394 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.394 * [backup-simplify]: Simplify (- 0) into 0 40.395 * [backup-simplify]: Simplify (+ 0 0) into 0 40.395 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 40.396 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.397 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.397 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.398 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.399 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.399 * [backup-simplify]: Simplify (+ 0 0) into 0 40.400 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 40.400 * [backup-simplify]: Simplify (+ 0 0) into 0 40.401 * [backup-simplify]: Simplify (- 0) into 0 40.401 * [backup-simplify]: Simplify (+ 0 0) into 0 40.406 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 40.411 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 40.424 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 40.430 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.431 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.432 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.433 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.433 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.434 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.434 * [backup-simplify]: Simplify (+ 0 0) into 0 40.435 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.436 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.437 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.438 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.439 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.439 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.440 * [backup-simplify]: Simplify (- 0) into 0 40.440 * [backup-simplify]: Simplify (+ 0 0) into 0 40.441 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.442 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.443 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.444 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.445 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.446 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.446 * [backup-simplify]: Simplify (- 0) into 0 40.446 * [backup-simplify]: Simplify (+ 0 0) into 0 40.447 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.448 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0 40.449 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.450 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.451 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.452 * [backup-simplify]: Simplify (+ 0 0) into 0 40.452 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.454 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)))))) into 0 40.455 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 40.456 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 40.457 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 40.463 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 40.471 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (sin (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (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))))))) R)) (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))))))))))))) into 0 40.472 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.473 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.473 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.474 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.474 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.475 * [backup-simplify]: Simplify (- 0) into 0 40.475 * [backup-simplify]: Simplify (+ 0 0) into 0 40.476 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.478 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.478 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.483 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.484 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.484 * [backup-simplify]: Simplify (- 0) into 0 40.485 * [backup-simplify]: Simplify (+ 0 0) into 0 40.485 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.486 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.487 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.488 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.488 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.489 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.490 * [backup-simplify]: Simplify (+ 0 0) into 0 40.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.492 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.493 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.493 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.494 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.495 * [backup-simplify]: Simplify (+ 0 0) into 0 40.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.496 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.497 * [backup-simplify]: Simplify (+ 0 0) into 0 40.498 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.498 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.499 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.500 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.500 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.501 * [backup-simplify]: Simplify (+ 0 0) into 0 40.501 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.502 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.503 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.504 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.504 * [backup-simplify]: Simplify (- 0) into 0 40.505 * [backup-simplify]: Simplify (+ 0 0) into 0 40.505 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.506 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.507 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.508 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.509 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.509 * [backup-simplify]: Simplify (+ 0 0) into 0 40.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 40.511 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.512 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.512 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.513 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.514 * [backup-simplify]: Simplify (- 0) into 0 40.514 * [backup-simplify]: Simplify (+ 0 0) into 0 40.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 40.516 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.517 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.518 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.519 * [backup-simplify]: Simplify (- 0) into 0 40.519 * [backup-simplify]: Simplify (+ 0 0) into 0 40.520 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.521 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.522 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.523 * [backup-simplify]: Simplify (+ 0 0) into 0 40.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.525 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.526 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.526 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.527 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.527 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.528 * [backup-simplify]: Simplify (- 0) into 0 40.528 * [backup-simplify]: Simplify (+ 0 0) into 0 40.529 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 40.530 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.530 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.531 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.532 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.532 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.533 * [backup-simplify]: Simplify (+ 0 0) into 0 40.533 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 40.534 * [backup-simplify]: Simplify (+ 0 0) into 0 40.534 * [backup-simplify]: Simplify (- 0) into 0 40.535 * [backup-simplify]: Simplify (+ 0 0) into 0 40.541 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.544 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.546 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.546 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.547 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.547 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.548 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.548 * [backup-simplify]: Simplify (+ 0 0) into 0 40.549 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.550 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.550 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.551 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.552 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.552 * [backup-simplify]: Simplify (- 0) into 0 40.553 * [backup-simplify]: Simplify (+ 0 0) into 0 40.553 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.554 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.555 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.556 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.556 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.557 * [backup-simplify]: Simplify (+ 0 0) into 0 40.557 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 40.558 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.558 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.558 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.559 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.559 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.559 * [backup-simplify]: Simplify (- 0) into 0 40.560 * [backup-simplify]: Simplify (+ 0 0) into 0 40.560 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 40.561 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 40.561 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 40.561 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 40.563 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 40.565 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 40.566 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.566 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.566 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.567 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.567 * [backup-simplify]: Simplify (- 0) into 0 40.568 * [backup-simplify]: Simplify (+ 0 0) into 0 40.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.569 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.569 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.569 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.570 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.570 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.570 * [backup-simplify]: Simplify (- 0) into 0 40.571 * [backup-simplify]: Simplify (+ 0 0) into 0 40.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.572 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.572 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.573 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.573 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.574 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.574 * [backup-simplify]: Simplify (+ 0 0) into 0 40.575 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.575 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.576 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.576 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.577 * [backup-simplify]: Simplify (+ 0 0) into 0 40.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.578 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.578 * [backup-simplify]: Simplify (+ 0 0) into 0 40.579 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.579 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.580 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.580 * [backup-simplify]: Simplify (+ 0 0) into 0 40.581 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.582 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.582 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.583 * [backup-simplify]: Simplify (- 0) into 0 40.583 * [backup-simplify]: Simplify (+ 0 0) into 0 40.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.584 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.585 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.586 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.587 * [backup-simplify]: Simplify (+ 0 0) into 0 40.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 40.588 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.591 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.592 * [backup-simplify]: Simplify (- 0) into 0 40.592 * [backup-simplify]: Simplify (+ 0 0) into 0 40.593 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 40.594 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.595 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.596 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.596 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.597 * [backup-simplify]: Simplify (- 0) into 0 40.597 * [backup-simplify]: Simplify (+ 0 0) into 0 40.598 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.599 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.599 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.600 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.601 * [backup-simplify]: Simplify (+ 0 0) into 0 40.601 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.602 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.602 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.602 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.603 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.603 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.604 * [backup-simplify]: Simplify (- 0) into 0 40.604 * [backup-simplify]: Simplify (+ 0 0) into 0 40.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 40.605 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.605 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.606 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.606 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.606 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.607 * [backup-simplify]: Simplify (+ 0 0) into 0 40.607 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 40.607 * [backup-simplify]: Simplify (+ 0 0) into 0 40.608 * [backup-simplify]: Simplify (- 0) into 0 40.608 * [backup-simplify]: Simplify (+ 0 0) into 0 40.610 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 40.613 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 40.620 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 40.625 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.626 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.627 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.627 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.628 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.628 * [backup-simplify]: Simplify (+ 0 0) into 0 40.629 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.629 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.630 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.631 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.631 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.632 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.633 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.633 * [backup-simplify]: Simplify (+ 0 0) into 0 40.634 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.634 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 40.635 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 4) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 4)))) into 0 40.636 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 40.637 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 40.637 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 40.642 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 40.647 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 4) (pow (sin (/ -0.5 phi1)) 4)) (* R (- (+ (* (pow (cos (/ -0.5 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))))))))) (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))))))))))))) into 0 40.649 * [backup-simplify]: Simplify (* (/ 1 (* phi2 (* phi1 R))) (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)))))))))) into (* (/ 1 (* phi2 (* phi1 R))) (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)))))))))) 40.651 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* (/ 1 (* phi2 (* phi1 R))) (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)))))))))) 40.653 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* phi2 (* phi1 R))) (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))))))))))) into (* (/ 1 (* phi2 (* phi1 R))) (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)))))))))) 40.655 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* (/ 1 (* phi2 (* phi1 R))) (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)))))))))) 40.657 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* phi2 (* phi1 R))) (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))))))))))) into (* (/ 1 (* phi2 (* phi1 R))) (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)))))))))) 40.660 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* (/ 1 (* phi2 (* phi1 R))) (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)))))))))) 40.662 * [backup-simplify]: Simplify (+ 0 (* (/ 1 (* phi2 (* phi1 R))) (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))))))))))) into (* (/ 1 (* phi2 (* phi1 R))) (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)))))))))) 40.664 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.664 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.665 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.666 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.666 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.667 * [backup-simplify]: Simplify (- 0) into 0 40.667 * [backup-simplify]: Simplify (+ 0 0) into 0 40.668 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.669 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.670 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.670 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.671 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.672 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.672 * [backup-simplify]: Simplify (- 0) into 0 40.672 * [backup-simplify]: Simplify (+ 0 0) into 0 40.673 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.674 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.675 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.676 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.676 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.677 * [backup-simplify]: Simplify (+ 0 0) into 0 40.678 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.679 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.680 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.680 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.681 * [backup-simplify]: Simplify (+ 0 0) into 0 40.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.683 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.683 * [backup-simplify]: Simplify (+ 0 0) into 0 40.684 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.684 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.685 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.685 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.686 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.686 * [backup-simplify]: Simplify (+ 0 0) into 0 40.687 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.688 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.689 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.690 * [backup-simplify]: Simplify (- 0) into 0 40.690 * [backup-simplify]: Simplify (+ 0 0) into 0 40.691 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.691 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.692 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.693 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.694 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.694 * [backup-simplify]: Simplify (+ 0 0) into 0 40.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 40.696 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.696 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.697 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.698 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.698 * [backup-simplify]: Simplify (- 0) into 0 40.698 * [backup-simplify]: Simplify (+ 0 0) into 0 40.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 40.700 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.701 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.702 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.702 * [backup-simplify]: Simplify (- 0) into 0 40.703 * [backup-simplify]: Simplify (+ 0 0) into 0 40.704 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.704 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.705 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.705 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.705 * [backup-simplify]: Simplify (+ 0 0) into 0 40.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.706 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.707 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.708 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.708 * [backup-simplify]: Simplify (- 0) into 0 40.709 * [backup-simplify]: Simplify (+ 0 0) into 0 40.709 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 40.710 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.710 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.710 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.711 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.711 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.711 * [backup-simplify]: Simplify (+ 0 0) into 0 40.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 40.712 * [backup-simplify]: Simplify (+ 0 0) into 0 40.712 * [backup-simplify]: Simplify (- 0) into 0 40.713 * [backup-simplify]: Simplify (+ 0 0) into 0 40.715 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 40.717 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 40.725 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 40.728 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.728 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.729 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.730 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.730 * [backup-simplify]: Simplify (- 0) into 0 40.731 * [backup-simplify]: Simplify (+ 0 0) into 0 40.731 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.731 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 40.732 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.733 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.733 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.734 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.734 * [backup-simplify]: Simplify (- 0) into 0 40.735 * [backup-simplify]: Simplify (+ 0 0) into 0 40.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.736 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.736 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 3)))) into 0 40.737 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.738 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.738 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.739 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.739 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.740 * [backup-simplify]: Simplify (+ 0 0) into 0 40.740 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3))))) into 0 40.741 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.742 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.742 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.743 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.744 * [backup-simplify]: Simplify (+ 0 0) into 0 40.745 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi2)) (pow (cos (/ -0.5 phi1)) 3)))))) into 0 40.745 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 40.746 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 40.747 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 40.751 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (pow (cos (/ -0.5 phi1)) 3) (pow (cos (/ -0.5 phi2)) 3)))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 40.761 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi1)) 3) (* (pow (cos (/ -0.5 phi2)) 3) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 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))))))) R)) (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))))))))))))) into 0 40.763 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.763 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.764 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.764 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.765 * [backup-simplify]: Simplify (- 0) into 0 40.765 * [backup-simplify]: Simplify (+ 0 0) into 0 40.765 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.766 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.767 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.767 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.768 * [backup-simplify]: Simplify (- 0) into 0 40.768 * [backup-simplify]: Simplify (+ 0 0) into 0 40.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.769 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.770 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.770 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.771 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.772 * [backup-simplify]: Simplify (+ 0 0) into 0 40.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.773 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.773 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.773 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.774 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.774 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.774 * [backup-simplify]: Simplify (+ 0 0) into 0 40.775 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.775 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.776 * [backup-simplify]: Simplify (+ 0 0) into 0 40.776 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.777 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.777 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.777 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.778 * [backup-simplify]: Simplify (+ 0 0) into 0 40.779 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.779 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.780 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.780 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.780 * [backup-simplify]: Simplify (- 0) into 0 40.781 * [backup-simplify]: Simplify (+ 0 0) into 0 40.781 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.782 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.782 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.783 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.783 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.783 * [backup-simplify]: Simplify (+ 0 0) into 0 40.784 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 40.784 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.785 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.785 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.786 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.786 * [backup-simplify]: Simplify (- 0) into 0 40.786 * [backup-simplify]: Simplify (+ 0 0) into 0 40.787 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 40.787 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.788 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.788 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.789 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.790 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.790 * [backup-simplify]: Simplify (- 0) into 0 40.790 * [backup-simplify]: Simplify (+ 0 0) into 0 40.791 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.792 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.793 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.794 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.794 * [backup-simplify]: Simplify (+ 0 0) into 0 40.795 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.796 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.797 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.797 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.798 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.798 * [backup-simplify]: Simplify (- 0) into 0 40.799 * [backup-simplify]: Simplify (+ 0 0) into 0 40.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 40.800 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.801 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.802 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.802 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.803 * [backup-simplify]: Simplify (+ 0 0) into 0 40.804 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 40.804 * [backup-simplify]: Simplify (+ 0 0) into 0 40.804 * [backup-simplify]: Simplify (- 0) into 0 40.805 * [backup-simplify]: Simplify (+ 0 0) into 0 40.810 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.813 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.814 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.815 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.815 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.816 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.817 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.817 * [backup-simplify]: Simplify (+ 0 0) into 0 40.818 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.819 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.820 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.820 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.821 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.822 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.822 * [backup-simplify]: Simplify (+ 0 0) into 0 40.823 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.824 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.825 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 40.826 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 40.826 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 40.829 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 40.831 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 40.832 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.832 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.833 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.833 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.834 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.834 * [backup-simplify]: Simplify (- 0) into 0 40.834 * [backup-simplify]: Simplify (+ 0 0) into 0 40.835 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.835 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.836 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.837 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.837 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.837 * [backup-simplify]: Simplify (- 0) into 0 40.838 * [backup-simplify]: Simplify (+ 0 0) into 0 40.838 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.839 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.839 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.840 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.840 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.841 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.841 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.841 * [backup-simplify]: Simplify (+ 0 0) into 0 40.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.842 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.843 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.843 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.844 * [backup-simplify]: Simplify (+ 0 0) into 0 40.845 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.845 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.845 * [backup-simplify]: Simplify (+ 0 0) into 0 40.846 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.847 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.847 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.847 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.848 * [backup-simplify]: Simplify (+ 0 0) into 0 40.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.850 * [backup-simplify]: Simplify (- 0) into 0 40.850 * [backup-simplify]: Simplify (+ 0 0) into 0 40.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.851 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.852 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.853 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.853 * [backup-simplify]: Simplify (+ 0 0) into 0 40.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 40.854 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.855 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.855 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.856 * [backup-simplify]: Simplify (- 0) into 0 40.856 * [backup-simplify]: Simplify (+ 0 0) into 0 40.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 40.858 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.858 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.859 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.859 * [backup-simplify]: Simplify (- 0) into 0 40.860 * [backup-simplify]: Simplify (+ 0 0) into 0 40.861 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.861 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.862 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.863 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.864 * [backup-simplify]: Simplify (+ 0 0) into 0 40.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.865 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.866 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.867 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.868 * [backup-simplify]: Simplify (- 0) into 0 40.868 * [backup-simplify]: Simplify (+ 0 0) into 0 40.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 40.870 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.871 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.872 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.873 * [backup-simplify]: Simplify (+ 0 0) into 0 40.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 40.874 * [backup-simplify]: Simplify (+ 0 0) into 0 40.875 * [backup-simplify]: Simplify (- 0) into 0 40.875 * [backup-simplify]: Simplify (+ 0 0) into 0 40.880 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 40.886 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 40.904 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 40.912 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 40.914 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.915 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.915 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.916 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.918 * [backup-simplify]: Simplify (- 0) into 0 40.919 * [backup-simplify]: Simplify (+ 0 0) into 0 40.919 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.920 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.922 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.923 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.924 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.925 * [backup-simplify]: Simplify (- 0) into 0 40.925 * [backup-simplify]: Simplify (+ 0 0) into 0 40.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.926 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 40.927 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 3)))) into 0 40.927 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.928 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.928 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.929 * [backup-simplify]: Simplify (+ 0 0) into 0 40.930 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3))))) into 0 40.930 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.931 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.932 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.932 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.932 * [backup-simplify]: Simplify (+ 0 0) into 0 40.933 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi1)) (pow (cos (/ -0.5 phi2)) 3)))))) into 0 40.933 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 40.934 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 40.934 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 40.937 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 40.941 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 3) (* (pow (cos (/ -0.5 phi1)) 3) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))) R)) (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))))))))))))) into 0 40.942 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.943 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.943 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.943 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.944 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.944 * [backup-simplify]: Simplify (- 0) into 0 40.944 * [backup-simplify]: Simplify (+ 0 0) into 0 40.945 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.945 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.946 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.946 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.947 * [backup-simplify]: Simplify (- 0) into 0 40.947 * [backup-simplify]: Simplify (+ 0 0) into 0 40.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 40.948 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 40.949 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.949 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.949 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.950 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.950 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.950 * [backup-simplify]: Simplify (+ 0 0) into 0 40.951 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.951 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.952 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.953 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.954 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.954 * [backup-simplify]: Simplify (+ 0 0) into 0 40.955 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 40.956 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 40.956 * [backup-simplify]: Simplify (+ 0 0) into 0 40.957 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.958 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.959 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.960 * [backup-simplify]: Simplify (+ 0 0) into 0 40.961 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.962 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.962 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.963 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.964 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.964 * [backup-simplify]: Simplify (- 0) into 0 40.965 * [backup-simplify]: Simplify (+ 0 0) into 0 40.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 40.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.967 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.969 * [backup-simplify]: Simplify (+ 0 0) into 0 40.970 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 40.971 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.972 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.973 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.974 * [backup-simplify]: Simplify (- 0) into 0 40.974 * [backup-simplify]: Simplify (+ 0 0) into 0 40.975 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 40.976 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.977 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.977 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.978 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.978 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.979 * [backup-simplify]: Simplify (- 0) into 0 40.979 * [backup-simplify]: Simplify (+ 0 0) into 0 40.980 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 40.981 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 40.982 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.983 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 40.983 * [backup-simplify]: Simplify (+ 0 0) into 0 40.984 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 40.984 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.986 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.986 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.987 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.987 * [backup-simplify]: Simplify (- 0) into 0 40.988 * [backup-simplify]: Simplify (+ 0 0) into 0 40.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 40.989 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 40.990 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 40.990 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 40.991 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 40.992 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 40.993 * [backup-simplify]: Simplify (+ 0 0) into 0 40.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 40.994 * [backup-simplify]: Simplify (+ 0 0) into 0 40.994 * [backup-simplify]: Simplify (- 0) into 0 40.995 * [backup-simplify]: Simplify (+ 0 0) into 0 40.999 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 41.004 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 41.017 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 41.023 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.024 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.025 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.026 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.026 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.027 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.027 * [backup-simplify]: Simplify (- 0) into 0 41.028 * [backup-simplify]: Simplify (+ 0 0) into 0 41.029 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.030 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.030 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.031 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.031 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.032 * [backup-simplify]: Simplify (+ 0 0) into 0 41.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 41.034 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 41.035 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.036 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.036 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.037 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.037 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.038 * [backup-simplify]: Simplify (- 0) into 0 41.038 * [backup-simplify]: Simplify (+ 0 0) into 0 41.039 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2)))))) into 0 41.040 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.041 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.042 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.043 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.043 * [backup-simplify]: Simplify (+ 0 0) into 0 41.044 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 41.044 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 41.045 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 3)))))) into 0 41.046 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 41.047 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 41.048 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 41.054 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (cos (/ -0.5 phi2))))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 41.064 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (* (pow (sin (/ -0.5 phi2)) 3) (cos (/ -0.5 phi1))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) R)) (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))))))))))))) into 0 41.067 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (* R (pow phi1 2)))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))))) (/ 1 (* (pow phi1 2) R))) 41.069 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))))) (/ 1 (* (pow phi1 2) R)))) into (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (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))))))))))) 41.072 * [backup-simplify]: Simplify (* (/ 1 (* (pow phi2 2) R)) (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)))))))))) into (* (/ 1 (* (pow phi2 2) R)) (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)))))))))) 41.074 * [backup-simplify]: Simplify (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) 41.076 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.077 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.078 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.078 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.079 * [backup-simplify]: Simplify (- 0) into 0 41.079 * [backup-simplify]: Simplify (+ 0 0) into 0 41.080 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.081 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.081 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.082 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.082 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.083 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.083 * [backup-simplify]: Simplify (- 0) into 0 41.084 * [backup-simplify]: Simplify (+ 0 0) into 0 41.084 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 41.085 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 41.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.087 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.087 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.088 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.089 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.089 * [backup-simplify]: Simplify (+ 0 0) into 0 41.090 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.091 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.091 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.092 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.092 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.093 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.093 * [backup-simplify]: Simplify (+ 0 0) into 0 41.094 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 41.095 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 41.095 * [backup-simplify]: Simplify (+ 0 0) into 0 41.097 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.098 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.098 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.099 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.099 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.100 * [backup-simplify]: Simplify (+ 0 0) into 0 41.101 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.102 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.102 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.103 * [backup-simplify]: Simplify (- 0) into 0 41.104 * [backup-simplify]: Simplify (+ 0 0) into 0 41.104 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.105 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.106 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.106 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.107 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.108 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.108 * [backup-simplify]: Simplify (+ 0 0) into 0 41.109 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 41.110 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.111 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.111 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.112 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.113 * [backup-simplify]: Simplify (- 0) into 0 41.113 * [backup-simplify]: Simplify (+ 0 0) into 0 41.114 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 41.115 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.116 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.117 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.118 * [backup-simplify]: Simplify (- 0) into 0 41.118 * [backup-simplify]: Simplify (+ 0 0) into 0 41.119 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.121 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.121 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.123 * [backup-simplify]: Simplify (+ 0 0) into 0 41.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.124 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.125 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.126 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.127 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.127 * [backup-simplify]: Simplify (- 0) into 0 41.128 * [backup-simplify]: Simplify (+ 0 0) into 0 41.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 41.129 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.130 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.131 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.132 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.132 * [backup-simplify]: Simplify (+ 0 0) into 0 41.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 41.133 * [backup-simplify]: Simplify (+ 0 0) into 0 41.133 * [backup-simplify]: Simplify (- 0) into 0 41.133 * [backup-simplify]: Simplify (+ 0 0) into 0 41.137 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.139 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.139 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.140 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.140 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.141 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.141 * [backup-simplify]: Simplify (- 0) into 0 41.142 * [backup-simplify]: Simplify (+ 0 0) into 0 41.142 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.143 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.143 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.143 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.144 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.144 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.144 * [backup-simplify]: Simplify (- 0) into 0 41.145 * [backup-simplify]: Simplify (+ 0 0) into 0 41.145 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 41.146 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 41.146 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 41.147 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 41.147 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 41.149 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 41.151 * [backup-simplify]: Simplify (+ (* 1/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0 41.151 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.152 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.152 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.153 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.153 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.153 * [backup-simplify]: Simplify (- 0) into 0 41.154 * [backup-simplify]: Simplify (+ 0 0) into 0 41.154 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.154 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.156 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.156 * [backup-simplify]: Simplify (- 0) into 0 41.157 * [backup-simplify]: Simplify (+ 0 0) into 0 41.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 41.157 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 41.158 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.160 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.160 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.161 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.161 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.161 * [backup-simplify]: Simplify (+ 0 0) into 0 41.162 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.162 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.163 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.163 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.164 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.164 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.165 * [backup-simplify]: Simplify (+ 0 0) into 0 41.165 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 41.166 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 41.167 * [backup-simplify]: Simplify (+ 0 0) into 0 41.168 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.169 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.169 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.170 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.171 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.171 * [backup-simplify]: Simplify (+ 0 0) into 0 41.172 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.173 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.174 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.175 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.175 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.176 * [backup-simplify]: Simplify (- 0) into 0 41.176 * [backup-simplify]: Simplify (+ 0 0) into 0 41.177 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.178 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.179 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.179 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.180 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.181 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.181 * [backup-simplify]: Simplify (+ 0 0) into 0 41.182 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 41.183 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.184 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.184 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.185 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.186 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.186 * [backup-simplify]: Simplify (- 0) into 0 41.186 * [backup-simplify]: Simplify (+ 0 0) into 0 41.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 41.189 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.189 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.191 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.191 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.192 * [backup-simplify]: Simplify (- 0) into 0 41.192 * [backup-simplify]: Simplify (+ 0 0) into 0 41.193 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.194 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.194 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.196 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.196 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.197 * [backup-simplify]: Simplify (+ 0 0) into 0 41.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.199 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.199 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.200 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.201 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.202 * [backup-simplify]: Simplify (- 0) into 0 41.202 * [backup-simplify]: Simplify (+ 0 0) into 0 41.203 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 41.204 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.205 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.205 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.206 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.207 * [backup-simplify]: Simplify (+ 0 0) into 0 41.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 41.213 * [backup-simplify]: Simplify (+ 0 0) into 0 41.213 * [backup-simplify]: Simplify (- 0) into 0 41.213 * [backup-simplify]: Simplify (+ 0 0) into 0 41.218 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 41.223 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (+ (* 0 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) into 0 41.238 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (* 0 (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))))) into 0 41.243 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.245 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.245 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.246 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.246 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.247 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.247 * [backup-simplify]: Simplify (+ 0 0) into 0 41.248 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.249 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 41.250 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.251 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.251 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.252 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.252 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.253 * [backup-simplify]: Simplify (+ 0 0) into 0 41.253 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 41.254 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 41.255 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 3)))) into 0 41.256 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.257 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.257 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.258 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.259 * [backup-simplify]: Simplify (- 0) into 0 41.259 * [backup-simplify]: Simplify (+ 0 0) into 0 41.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3))))) into 0 41.261 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.262 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.263 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.263 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.264 * [backup-simplify]: Simplify (- 0) into 0 41.264 * [backup-simplify]: Simplify (+ 0 0) into 0 41.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 3)))))) into 0 41.266 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 41.267 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (* 0 1))) into 0 41.268 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 41.273 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)))) R) 0) (+ (* 0 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 41.280 * [backup-simplify]: Simplify (+ (* 3/2 0) (+ (* 0 0) (* 0 (* (/ (* (pow (sin (/ -0.5 phi2)) 3) (* (pow (sin (/ -0.5 phi1)) 3) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (- (+ (* (pow (cos (/ -0.5 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))))))) R)) (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))))))))))))) into 0 41.280 * [backup-simplify]: Simplify (+ 0 0) into 0 41.283 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 0) into (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) 41.287 * [backup-simplify]: Simplify (+ (* 1/2 (* (/ 1 (* (pow phi1 2) R)) (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))))))))))) (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))))) (/ 1 (* R (pow phi1 2)))))) 41.293 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))))) (/ 1 (* R (pow phi1 2))))))) into (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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)))))))))))) 41.299 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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 (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))))) (/ 1 (* R (pow phi1 2)))))) 41.304 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))))) (/ 1 (* R (pow phi1 2))))))) into (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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)))))))))))) 41.310 * [backup-simplify]: Simplify (+ 0 (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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 (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))))) (/ 1 (* R (pow phi1 2)))))) 41.316 * [backup-simplify]: Simplify (- (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))))) (/ 1 (* R (pow phi1 2))))))) into (- (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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))))))))))))) 41.324 * [backup-simplify]: Simplify (+ (* (/ 1 (* phi2 (* phi1 R))) (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)))))))))) (- (+ (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))) (* 1/2 (* (/ 1 (* R (pow phi1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (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 (* phi2 (* phi1 R))) (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)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))))) (/ 1 (* (pow phi1 2) R)))) (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (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))))))))))))) 41.324 * [taylor]: Taking taylor expansion of (- (* (/ 1 (* phi2 (* phi1 R))) (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)))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (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))))))))) (/ 1 (* (pow phi1 2) R)))) (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) in phi2 41.324 * [taylor]: Taking taylor expansion of (* (/ 1 (* phi2 (* phi1 R))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi2 41.324 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* phi1 R))) in phi2 41.324 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 R)) in phi2 41.324 * [taylor]: Taking taylor expansion of phi2 in phi2 41.324 * [backup-simplify]: Simplify 0 into 0 41.324 * [backup-simplify]: Simplify 1 into 1 41.324 * [taylor]: Taking taylor expansion of (* phi1 R) in phi2 41.324 * [taylor]: Taking taylor expansion of phi1 in phi2 41.324 * [backup-simplify]: Simplify phi1 into phi1 41.324 * [taylor]: Taking taylor expansion of R in phi2 41.324 * [backup-simplify]: Simplify R into R 41.325 * [backup-simplify]: Simplify (* phi1 R) into (* R phi1) 41.325 * [backup-simplify]: Simplify (* 0 (* R phi1)) into 0 41.325 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 R)) into 0 41.325 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* R phi1))) into (* phi1 R) 41.326 * [backup-simplify]: Simplify (/ 1 (* phi1 R)) into (/ 1 (* phi1 R)) 41.326 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 41.326 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 41.326 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 41.326 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 41.326 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 41.326 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 41.326 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 41.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.326 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.326 * [backup-simplify]: Simplify -0.5 into -0.5 41.326 * [taylor]: Taking taylor expansion of phi2 in phi2 41.326 * [backup-simplify]: Simplify 0 into 0 41.326 * [backup-simplify]: Simplify 1 into 1 41.327 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.327 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 41.327 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 41.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.327 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.327 * [backup-simplify]: Simplify -0.5 into -0.5 41.327 * [taylor]: Taking taylor expansion of phi1 in phi2 41.327 * [backup-simplify]: Simplify phi1 into phi1 41.327 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.327 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.327 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.328 * [backup-simplify]: Simplify (- 0) into 0 41.328 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.328 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 41.328 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 41.328 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 41.328 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.328 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.328 * [backup-simplify]: Simplify -0.5 into -0.5 41.328 * [taylor]: Taking taylor expansion of phi2 in phi2 41.328 * [backup-simplify]: Simplify 0 into 0 41.328 * [backup-simplify]: Simplify 1 into 1 41.329 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.329 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.329 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 41.329 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 41.329 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.329 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.329 * [backup-simplify]: Simplify -0.5 into -0.5 41.329 * [taylor]: Taking taylor expansion of phi1 in phi2 41.329 * [backup-simplify]: Simplify phi1 into phi1 41.329 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.329 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.329 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.329 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.330 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.330 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.330 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 41.330 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 41.330 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 41.330 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.330 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.330 * [backup-simplify]: Simplify -0.5 into -0.5 41.330 * [taylor]: Taking taylor expansion of phi2 in phi2 41.330 * [backup-simplify]: Simplify 0 into 0 41.330 * [backup-simplify]: Simplify 1 into 1 41.330 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.331 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.331 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 41.331 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 41.331 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.331 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.331 * [backup-simplify]: Simplify -0.5 into -0.5 41.331 * [taylor]: Taking taylor expansion of phi1 in phi2 41.331 * [backup-simplify]: Simplify phi1 into phi1 41.331 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.331 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.331 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.331 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 41.331 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 41.331 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.331 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.331 * [backup-simplify]: Simplify -0.5 into -0.5 41.331 * [taylor]: Taking taylor expansion of phi2 in phi2 41.331 * [backup-simplify]: Simplify 0 into 0 41.331 * [backup-simplify]: Simplify 1 into 1 41.332 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.332 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.332 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 41.332 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.332 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.332 * [backup-simplify]: Simplify -0.5 into -0.5 41.332 * [taylor]: Taking taylor expansion of phi1 in phi2 41.332 * [backup-simplify]: Simplify phi1 into phi1 41.332 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.332 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.332 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.332 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 41.332 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 41.332 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.332 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.333 * [backup-simplify]: Simplify -0.5 into -0.5 41.333 * [taylor]: Taking taylor expansion of phi2 in phi2 41.333 * [backup-simplify]: Simplify 0 into 0 41.333 * [backup-simplify]: Simplify 1 into 1 41.333 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.333 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.333 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 41.333 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 41.333 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.333 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.333 * [backup-simplify]: Simplify -0.5 into -0.5 41.333 * [taylor]: Taking taylor expansion of phi1 in phi2 41.333 * [backup-simplify]: Simplify phi1 into phi1 41.333 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.334 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.334 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.334 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 41.334 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 41.334 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.334 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.334 * [backup-simplify]: Simplify -0.5 into -0.5 41.334 * [taylor]: Taking taylor expansion of phi2 in phi2 41.334 * [backup-simplify]: Simplify 0 into 0 41.334 * [backup-simplify]: Simplify 1 into 1 41.334 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.335 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.335 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 41.335 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.335 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.335 * [backup-simplify]: Simplify -0.5 into -0.5 41.335 * [taylor]: Taking taylor expansion of phi1 in phi2 41.335 * [backup-simplify]: Simplify phi1 into phi1 41.335 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.335 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.335 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.335 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 41.335 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 41.336 * [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)) 41.336 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 41.336 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 41.336 * [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)) 41.337 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) 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))) 41.337 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.337 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.337 * [backup-simplify]: Simplify (- 0) into 0 41.337 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.337 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.337 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.337 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.338 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 41.338 * [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)))) 41.338 * [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))))) 41.338 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.338 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.338 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.338 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.338 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.339 * [backup-simplify]: Simplify (- 0) into 0 41.339 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.339 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 41.339 * [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)))) 41.339 * [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))))) 41.339 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 41.340 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 41.341 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 41.342 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 41.343 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 41.344 * [backup-simplify]: Simplify (+ 0) into 0 41.344 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.344 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.345 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.345 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.345 * [backup-simplify]: Simplify (- 0) into 0 41.346 * [backup-simplify]: Simplify (+ 0 0) into 0 41.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 41.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 41.346 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 41.346 * [backup-simplify]: Simplify (+ 0) into 0 41.347 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.347 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.347 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.348 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.348 * [backup-simplify]: Simplify (+ 0 0) into 0 41.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 41.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 41.348 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 41.349 * [backup-simplify]: Simplify (+ 0 0) into 0 41.349 * [backup-simplify]: Simplify (+ 0) into 0 41.349 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.349 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.350 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.350 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.351 * [backup-simplify]: Simplify (+ 0 0) into 0 41.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 41.351 * [backup-simplify]: Simplify (+ 0) into 0 41.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.351 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.352 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.352 * [backup-simplify]: Simplify (- 0) into 0 41.353 * [backup-simplify]: Simplify (+ 0 0) into 0 41.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 41.353 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 41.353 * [backup-simplify]: Simplify (+ 0) into 0 41.354 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.354 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.355 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.355 * [backup-simplify]: Simplify (- 0) into 0 41.355 * [backup-simplify]: Simplify (+ 0 0) into 0 41.355 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 41.355 * [backup-simplify]: Simplify (+ 0) into 0 41.356 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.356 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.356 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.357 * [backup-simplify]: Simplify (+ 0 0) into 0 41.357 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 41.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 41.358 * [backup-simplify]: Simplify (+ 0 0) into 0 41.358 * [backup-simplify]: Simplify (- 0) into 0 41.358 * [backup-simplify]: Simplify (+ 0 0) into 0 41.360 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 41.361 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 41.361 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))) (/ 1 (* (pow phi1 2) R)))) (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) in phi2 41.362 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))) (/ 1 (* (pow phi1 2) R)))) in phi2 41.362 * [taylor]: Taking taylor expansion of 1/2 in phi2 41.362 * [backup-simplify]: Simplify 1/2 into 1/2 41.362 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 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))))))))) (/ 1 (* (pow phi1 2) R))) in phi2 41.362 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 41.362 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 41.362 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 41.362 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 41.362 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 41.362 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 41.362 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 41.362 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.362 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.362 * [backup-simplify]: Simplify -0.5 into -0.5 41.362 * [taylor]: Taking taylor expansion of phi2 in phi2 41.362 * [backup-simplify]: Simplify 0 into 0 41.362 * [backup-simplify]: Simplify 1 into 1 41.362 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.362 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.362 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 41.362 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 41.362 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.362 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.363 * [backup-simplify]: Simplify -0.5 into -0.5 41.363 * [taylor]: Taking taylor expansion of phi1 in phi2 41.363 * [backup-simplify]: Simplify phi1 into phi1 41.363 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.363 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.363 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.363 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.363 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.363 * [backup-simplify]: Simplify (- 0) into 0 41.363 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.363 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 41.363 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 41.363 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 41.363 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.363 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.363 * [backup-simplify]: Simplify -0.5 into -0.5 41.363 * [taylor]: Taking taylor expansion of phi2 in phi2 41.363 * [backup-simplify]: Simplify 0 into 0 41.363 * [backup-simplify]: Simplify 1 into 1 41.364 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.364 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.364 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 41.364 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 41.364 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.364 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.364 * [backup-simplify]: Simplify -0.5 into -0.5 41.364 * [taylor]: Taking taylor expansion of phi1 in phi2 41.364 * [backup-simplify]: Simplify phi1 into phi1 41.364 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.364 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.364 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.364 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.364 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.364 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.364 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 41.364 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 41.364 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 41.364 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.364 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.364 * [backup-simplify]: Simplify -0.5 into -0.5 41.364 * [taylor]: Taking taylor expansion of phi1 in phi2 41.364 * [backup-simplify]: Simplify phi1 into phi1 41.364 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.364 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.365 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.365 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 41.365 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 41.365 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.365 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.365 * [backup-simplify]: Simplify -0.5 into -0.5 41.365 * [taylor]: Taking taylor expansion of phi2 in phi2 41.365 * [backup-simplify]: Simplify 0 into 0 41.365 * [backup-simplify]: Simplify 1 into 1 41.365 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.365 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.365 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 41.365 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 41.365 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.365 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.365 * [backup-simplify]: Simplify -0.5 into -0.5 41.365 * [taylor]: Taking taylor expansion of phi2 in phi2 41.365 * [backup-simplify]: Simplify 0 into 0 41.365 * [backup-simplify]: Simplify 1 into 1 41.365 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.366 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 41.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.366 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.366 * [backup-simplify]: Simplify -0.5 into -0.5 41.366 * [taylor]: Taking taylor expansion of phi1 in phi2 41.366 * [backup-simplify]: Simplify phi1 into phi1 41.366 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.366 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 41.366 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 41.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.366 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.366 * [backup-simplify]: Simplify -0.5 into -0.5 41.366 * [taylor]: Taking taylor expansion of phi1 in phi2 41.366 * [backup-simplify]: Simplify phi1 into phi1 41.366 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.366 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.366 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.366 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 41.366 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 41.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.366 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.366 * [backup-simplify]: Simplify -0.5 into -0.5 41.366 * [taylor]: Taking taylor expansion of phi2 in phi2 41.366 * [backup-simplify]: Simplify 0 into 0 41.366 * [backup-simplify]: Simplify 1 into 1 41.367 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.367 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 41.367 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 41.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.367 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.367 * [backup-simplify]: Simplify -0.5 into -0.5 41.367 * [taylor]: Taking taylor expansion of phi2 in phi2 41.367 * [backup-simplify]: Simplify 0 into 0 41.367 * [backup-simplify]: Simplify 1 into 1 41.367 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.367 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 41.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.367 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.367 * [backup-simplify]: Simplify -0.5 into -0.5 41.367 * [taylor]: Taking taylor expansion of phi1 in phi2 41.367 * [backup-simplify]: Simplify phi1 into phi1 41.367 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.368 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 41.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 41.368 * [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)) 41.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 41.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 41.369 * [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)) 41.370 * [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))) 41.370 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.370 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.374 * [backup-simplify]: Simplify (- 0) into 0 41.375 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.375 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.375 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.375 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.375 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 41.376 * [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)))) 41.376 * [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))))) 41.376 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.376 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.376 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.377 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.377 * [backup-simplify]: Simplify (- 0) into 0 41.377 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 41.378 * [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)))) 41.378 * [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))))) 41.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 41.380 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 41.382 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 41.384 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 41.386 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) 41.387 * [backup-simplify]: Simplify (+ 0) into 0 41.387 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.387 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.388 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.389 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.389 * [backup-simplify]: Simplify (- 0) into 0 41.390 * [backup-simplify]: Simplify (+ 0 0) into 0 41.390 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 41.390 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 41.390 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 41.391 * [backup-simplify]: Simplify (+ 0) into 0 41.392 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.392 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.393 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.393 * [backup-simplify]: Simplify (+ 0 0) into 0 41.394 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 41.394 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 41.395 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 41.395 * [backup-simplify]: Simplify (+ 0 0) into 0 41.395 * [backup-simplify]: Simplify (+ 0) into 0 41.396 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.396 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.397 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.398 * [backup-simplify]: Simplify (+ 0 0) into 0 41.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 41.398 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 41.399 * [backup-simplify]: Simplify (+ 0) into 0 41.399 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.399 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.401 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.401 * [backup-simplify]: Simplify (- 0) into 0 41.401 * [backup-simplify]: Simplify (+ 0 0) into 0 41.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0 41.402 * [backup-simplify]: Simplify (+ 0) into 0 41.403 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.403 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.404 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.404 * [backup-simplify]: Simplify (- 0) into 0 41.405 * [backup-simplify]: Simplify (+ 0 0) into 0 41.405 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 41.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 41.406 * [backup-simplify]: Simplify (+ 0) into 0 41.406 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.407 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.408 * [backup-simplify]: Simplify (+ 0 0) into 0 41.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0 41.409 * [backup-simplify]: Simplify (+ 0 0) into 0 41.409 * [backup-simplify]: Simplify (- 0) into 0 41.410 * [backup-simplify]: Simplify (+ 0 0) into 0 41.414 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 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 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 41.416 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 41.416 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) R)) in phi2 41.416 * [taylor]: Taking taylor expansion of (* (pow phi1 2) R) in phi2 41.416 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 41.416 * [taylor]: Taking taylor expansion of phi1 in phi2 41.416 * [backup-simplify]: Simplify phi1 into phi1 41.416 * [taylor]: Taking taylor expansion of R in phi2 41.416 * [backup-simplify]: Simplify R into R 41.417 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 41.417 * [backup-simplify]: Simplify (* (pow phi1 2) R) into (* R (pow phi1 2)) 41.417 * [backup-simplify]: Simplify (/ 1 (* R (pow phi1 2))) into (/ 1 (* R (pow phi1 2))) 41.417 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi2 41.418 * [taylor]: Taking taylor expansion of 1/2 in phi2 41.418 * [backup-simplify]: Simplify 1/2 into 1/2 41.418 * [taylor]: Taking taylor expansion of (* (/ 1 (* (pow phi2 2) R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi2 41.418 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) R)) in phi2 41.418 * [taylor]: Taking taylor expansion of (* (pow phi2 2) R) in phi2 41.418 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 41.418 * [taylor]: Taking taylor expansion of phi2 in phi2 41.418 * [backup-simplify]: Simplify 0 into 0 41.418 * [backup-simplify]: Simplify 1 into 1 41.418 * [taylor]: Taking taylor expansion of R in phi2 41.418 * [backup-simplify]: Simplify R into R 41.419 * [backup-simplify]: Simplify (* 1 1) into 1 41.419 * [backup-simplify]: Simplify (* 1 R) into R 41.419 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 41.419 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi2 41.419 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi2 41.419 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2 41.419 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2 41.419 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 41.419 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 41.419 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 41.419 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.419 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.419 * [backup-simplify]: Simplify -0.5 into -0.5 41.419 * [taylor]: Taking taylor expansion of phi2 in phi2 41.420 * [backup-simplify]: Simplify 0 into 0 41.420 * [backup-simplify]: Simplify 1 into 1 41.420 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.420 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.420 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 41.420 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 41.420 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.420 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.420 * [backup-simplify]: Simplify -0.5 into -0.5 41.421 * [taylor]: Taking taylor expansion of phi1 in phi2 41.421 * [backup-simplify]: Simplify phi1 into phi1 41.421 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.421 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.421 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.421 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.421 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.422 * [backup-simplify]: Simplify (- 0) into 0 41.422 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.422 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 41.422 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 41.422 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 41.422 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.422 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.422 * [backup-simplify]: Simplify -0.5 into -0.5 41.422 * [taylor]: Taking taylor expansion of phi2 in phi2 41.422 * [backup-simplify]: Simplify 0 into 0 41.422 * [backup-simplify]: Simplify 1 into 1 41.423 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.423 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.423 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 41.423 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 41.423 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.423 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.423 * [backup-simplify]: Simplify -0.5 into -0.5 41.423 * [taylor]: Taking taylor expansion of phi1 in phi2 41.423 * [backup-simplify]: Simplify phi1 into phi1 41.423 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.423 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.423 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.424 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.424 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.424 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2 41.424 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2 41.424 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 41.424 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.424 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.424 * [backup-simplify]: Simplify -0.5 into -0.5 41.424 * [taylor]: Taking taylor expansion of phi2 in phi2 41.424 * [backup-simplify]: Simplify 0 into 0 41.424 * [backup-simplify]: Simplify 1 into 1 41.425 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.425 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.425 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2 41.425 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 41.425 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.425 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.425 * [backup-simplify]: Simplify -0.5 into -0.5 41.425 * [taylor]: Taking taylor expansion of phi1 in phi2 41.425 * [backup-simplify]: Simplify phi1 into phi1 41.425 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.425 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.425 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.425 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 41.425 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 41.425 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.425 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.425 * [backup-simplify]: Simplify -0.5 into -0.5 41.426 * [taylor]: Taking taylor expansion of phi2 in phi2 41.426 * [backup-simplify]: Simplify 0 into 0 41.426 * [backup-simplify]: Simplify 1 into 1 41.426 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.426 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.426 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 41.426 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.426 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.426 * [backup-simplify]: Simplify -0.5 into -0.5 41.426 * [taylor]: Taking taylor expansion of phi1 in phi2 41.426 * [backup-simplify]: Simplify phi1 into phi1 41.426 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.426 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.427 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.427 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2 41.427 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 41.427 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.427 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.427 * [backup-simplify]: Simplify -0.5 into -0.5 41.427 * [taylor]: Taking taylor expansion of phi2 in phi2 41.427 * [backup-simplify]: Simplify 0 into 0 41.427 * [backup-simplify]: Simplify 1 into 1 41.427 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.427 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.427 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2 41.427 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 41.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.428 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.428 * [backup-simplify]: Simplify -0.5 into -0.5 41.428 * [taylor]: Taking taylor expansion of phi1 in phi2 41.428 * [backup-simplify]: Simplify phi1 into phi1 41.428 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.428 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.428 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.428 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 41.428 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 41.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 41.428 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.428 * [backup-simplify]: Simplify -0.5 into -0.5 41.428 * [taylor]: Taking taylor expansion of phi2 in phi2 41.428 * [backup-simplify]: Simplify 0 into 0 41.428 * [backup-simplify]: Simplify 1 into 1 41.429 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.429 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.429 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 41.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 41.429 * [taylor]: Taking taylor expansion of -0.5 in phi2 41.429 * [backup-simplify]: Simplify -0.5 into -0.5 41.429 * [taylor]: Taking taylor expansion of phi1 in phi2 41.429 * [backup-simplify]: Simplify phi1 into phi1 41.429 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.429 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.429 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 41.430 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 41.430 * [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)) 41.430 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 41.430 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 41.431 * [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)) 41.431 * [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))) 41.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.432 * [backup-simplify]: Simplify (- 0) into 0 41.432 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.433 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 41.433 * [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)))) 41.433 * [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))))) 41.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.434 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.434 * [backup-simplify]: Simplify (- 0) into 0 41.435 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 41.435 * [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)))) 41.435 * [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))))) 41.436 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) 41.437 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 41.439 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 41.441 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) 41.443 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 41.444 * [backup-simplify]: Simplify (+ 0) into 0 41.445 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.445 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.446 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.446 * [backup-simplify]: Simplify (- 0) into 0 41.446 * [backup-simplify]: Simplify (+ 0 0) into 0 41.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 41.446 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 41.447 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 41.447 * [backup-simplify]: Simplify (+ 0) into 0 41.447 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.447 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.448 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.448 * [backup-simplify]: Simplify (+ 0 0) into 0 41.449 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 41.449 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 41.449 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 41.449 * [backup-simplify]: Simplify (+ 0 0) into 0 41.449 * [backup-simplify]: Simplify (+ 0) into 0 41.450 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.450 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.450 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.451 * [backup-simplify]: Simplify (+ 0 0) into 0 41.451 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 41.451 * [backup-simplify]: Simplify (+ 0) into 0 41.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.452 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.452 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.453 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.453 * [backup-simplify]: Simplify (- 0) into 0 41.453 * [backup-simplify]: Simplify (+ 0 0) into 0 41.453 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 41.454 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 41.454 * [backup-simplify]: Simplify (+ 0) into 0 41.454 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.455 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.455 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.455 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.456 * [backup-simplify]: Simplify (- 0) into 0 41.456 * [backup-simplify]: Simplify (+ 0 0) into 0 41.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 41.456 * [backup-simplify]: Simplify (+ 0) into 0 41.457 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.457 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.457 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.458 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.458 * [backup-simplify]: Simplify (+ 0 0) into 0 41.458 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 41.458 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 41.459 * [backup-simplify]: Simplify (+ 0 0) into 0 41.459 * [backup-simplify]: Simplify (- 0) into 0 41.459 * [backup-simplify]: Simplify (+ 0 0) into 0 41.461 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 41.463 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0 41.464 * [backup-simplify]: Simplify (* (/ 1 (* phi1 R)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) into (* (/ 1 (* R phi1)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) 41.464 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 41.465 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 R)) into 0 41.465 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0 41.466 * [backup-simplify]: Simplify (+ (* (/ 1 R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0 41.467 * [backup-simplify]: Simplify (* (/ 1 R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ 1 R)) 41.470 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ 1 R)))) into 0 41.470 * [backup-simplify]: Simplify (+ 0 0) into 0 41.471 * [backup-simplify]: Simplify (- 0) into 0 41.473 * [backup-simplify]: Simplify (+ (* (/ 1 (* R phi1)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) 0) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ 1 (* phi1 R))) 41.473 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ 1 (* phi1 R))) in phi1 41.473 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in phi1 41.473 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in phi1 41.473 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in phi1 41.473 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1 41.473 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 41.473 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 41.473 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 41.473 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 41.473 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.474 * [backup-simplify]: Simplify -0.5 into -0.5 41.474 * [taylor]: Taking taylor expansion of phi2 in phi1 41.474 * [backup-simplify]: Simplify phi2 into phi2 41.474 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.474 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.474 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.474 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 41.474 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 41.475 * [backup-simplify]: Simplify (- 0) into 0 41.475 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 41.475 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 41.475 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 41.475 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 41.475 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.475 * [backup-simplify]: Simplify -0.5 into -0.5 41.475 * [taylor]: Taking taylor expansion of phi1 in phi1 41.475 * [backup-simplify]: Simplify 0 into 0 41.475 * [backup-simplify]: Simplify 1 into 1 41.475 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.476 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.476 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 41.476 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 41.476 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 41.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 41.476 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.476 * [backup-simplify]: Simplify -0.5 into -0.5 41.476 * [taylor]: Taking taylor expansion of phi2 in phi1 41.476 * [backup-simplify]: Simplify phi2 into phi2 41.476 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.476 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.476 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 41.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 41.476 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 41.476 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 41.476 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 41.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 41.477 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.477 * [backup-simplify]: Simplify -0.5 into -0.5 41.477 * [taylor]: Taking taylor expansion of phi1 in phi1 41.477 * [backup-simplify]: Simplify 0 into 0 41.477 * [backup-simplify]: Simplify 1 into 1 41.477 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.477 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in phi1 41.477 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1 41.477 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 41.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 41.477 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.478 * [backup-simplify]: Simplify -0.5 into -0.5 41.478 * [taylor]: Taking taylor expansion of phi2 in phi1 41.478 * [backup-simplify]: Simplify phi2 into phi2 41.478 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.478 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.478 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.478 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1 41.478 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 41.478 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 41.478 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.478 * [backup-simplify]: Simplify -0.5 into -0.5 41.478 * [taylor]: Taking taylor expansion of phi1 in phi1 41.478 * [backup-simplify]: Simplify 0 into 0 41.478 * [backup-simplify]: Simplify 1 into 1 41.479 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.479 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.479 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1 41.479 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 41.479 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 41.479 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.479 * [backup-simplify]: Simplify -0.5 into -0.5 41.479 * [taylor]: Taking taylor expansion of phi1 in phi1 41.479 * [backup-simplify]: Simplify 0 into 0 41.479 * [backup-simplify]: Simplify 1 into 1 41.480 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.480 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.480 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 41.480 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 41.480 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.480 * [backup-simplify]: Simplify -0.5 into -0.5 41.480 * [taylor]: Taking taylor expansion of phi2 in phi1 41.480 * [backup-simplify]: Simplify phi2 into phi2 41.481 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.481 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.481 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.481 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1 41.481 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 41.481 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 41.481 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.481 * [backup-simplify]: Simplify -0.5 into -0.5 41.481 * [taylor]: Taking taylor expansion of phi2 in phi1 41.481 * [backup-simplify]: Simplify phi2 into phi2 41.481 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.481 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.481 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.481 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1 41.481 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 41.481 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 41.481 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.481 * [backup-simplify]: Simplify -0.5 into -0.5 41.481 * [taylor]: Taking taylor expansion of phi1 in phi1 41.481 * [backup-simplify]: Simplify 0 into 0 41.482 * [backup-simplify]: Simplify 1 into 1 41.482 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.482 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.482 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1 41.482 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 41.482 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 41.482 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.482 * [backup-simplify]: Simplify -0.5 into -0.5 41.482 * [taylor]: Taking taylor expansion of phi1 in phi1 41.482 * [backup-simplify]: Simplify 0 into 0 41.482 * [backup-simplify]: Simplify 1 into 1 41.483 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 41.483 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.483 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 41.483 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 41.483 * [taylor]: Taking taylor expansion of -0.5 in phi1 41.483 * [backup-simplify]: Simplify -0.5 into -0.5 41.483 * [taylor]: Taking taylor expansion of phi2 in phi1 41.483 * [backup-simplify]: Simplify phi2 into phi2 41.483 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.483 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.484 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.484 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 41.484 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 41.484 * [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)) 41.485 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 41.485 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 41.485 * [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)) 41.486 * [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))) 41.486 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 41.486 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 41.486 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 41.486 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 41.487 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 41.487 * [backup-simplify]: Simplify (- 0) into 0 41.487 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 41.487 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 41.488 * [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)))) 41.488 * [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))))) 41.488 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 41.488 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 41.489 * [backup-simplify]: Simplify (- 0) into 0 41.489 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 41.489 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 41.489 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 41.489 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 41.489 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 41.490 * [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)))) 41.490 * [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))))) 41.491 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 41.492 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 41.494 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 41.496 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 41.498 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) 41.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 41.499 * [backup-simplify]: Simplify (+ 0) into 0 41.499 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.499 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.500 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.501 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.501 * [backup-simplify]: Simplify (- 0) into 0 41.501 * [backup-simplify]: Simplify (+ 0 0) into 0 41.502 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 41.502 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 41.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 41.503 * [backup-simplify]: Simplify (+ 0) into 0 41.503 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.503 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.504 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.505 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.505 * [backup-simplify]: Simplify (+ 0 0) into 0 41.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 41.506 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 41.507 * [backup-simplify]: Simplify (+ 0 0) into 0 41.507 * [backup-simplify]: Simplify (+ 0) into 0 41.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.508 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.508 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.509 * [backup-simplify]: Simplify (- 0) into 0 41.510 * [backup-simplify]: Simplify (+ 0 0) into 0 41.510 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 41.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 41.511 * [backup-simplify]: Simplify (+ 0) into 0 41.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.511 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.513 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.513 * [backup-simplify]: Simplify (+ 0 0) into 0 41.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 41.514 * [backup-simplify]: Simplify (+ 0) into 0 41.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.515 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.516 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.516 * [backup-simplify]: Simplify (+ 0 0) into 0 41.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 41.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 41.517 * [backup-simplify]: Simplify (+ 0) into 0 41.518 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.518 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.520 * [backup-simplify]: Simplify (- 0) into 0 41.520 * [backup-simplify]: Simplify (+ 0 0) into 0 41.520 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 41.521 * [backup-simplify]: Simplify (+ 0 0) into 0 41.521 * [backup-simplify]: Simplify (- 0) into 0 41.522 * [backup-simplify]: Simplify (+ 0 0) into 0 41.526 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0 41.528 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0 41.528 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 R)) in phi1 41.528 * [taylor]: Taking taylor expansion of (* phi1 R) in phi1 41.528 * [taylor]: Taking taylor expansion of phi1 in phi1 41.528 * [backup-simplify]: Simplify 0 into 0 41.528 * [backup-simplify]: Simplify 1 into 1 41.528 * [taylor]: Taking taylor expansion of R in phi1 41.529 * [backup-simplify]: Simplify R into R 41.529 * [backup-simplify]: Simplify (* 0 R) into 0 41.529 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 R)) into R 41.529 * [backup-simplify]: Simplify (/ 1 R) into (/ 1 R) 41.532 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ 1 R)) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R)) 41.532 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (/ 1 R)) in R 41.532 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in R 41.532 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in R 41.532 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R 41.532 * [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 R 41.532 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 41.532 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 41.532 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 41.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.532 * [taylor]: Taking taylor expansion of -0.5 in R 41.532 * [backup-simplify]: Simplify -0.5 into -0.5 41.532 * [taylor]: Taking taylor expansion of phi2 in R 41.532 * [backup-simplify]: Simplify phi2 into phi2 41.532 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 41.532 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 41.533 * [backup-simplify]: Simplify (- 0) into 0 41.533 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 41.533 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 41.533 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 41.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.533 * [taylor]: Taking taylor expansion of -0.5 in R 41.533 * [backup-simplify]: Simplify -0.5 into -0.5 41.533 * [taylor]: Taking taylor expansion of phi1 in R 41.533 * [backup-simplify]: Simplify phi1 into phi1 41.533 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.533 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.534 * [backup-simplify]: Simplify (- 0) into 0 41.534 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.534 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R 41.534 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 41.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 41.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.534 * [taylor]: Taking taylor expansion of -0.5 in R 41.534 * [backup-simplify]: Simplify -0.5 into -0.5 41.534 * [taylor]: Taking taylor expansion of phi2 in R 41.534 * [backup-simplify]: Simplify phi2 into phi2 41.534 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 41.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 41.534 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 41.535 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 41.535 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 41.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.535 * [taylor]: Taking taylor expansion of -0.5 in R 41.535 * [backup-simplify]: Simplify -0.5 into -0.5 41.535 * [taylor]: Taking taylor expansion of phi1 in R 41.535 * [backup-simplify]: Simplify phi1 into phi1 41.535 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.535 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.535 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R 41.535 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in R 41.535 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 41.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.535 * [taylor]: Taking taylor expansion of -0.5 in R 41.535 * [backup-simplify]: Simplify -0.5 into -0.5 41.535 * [taylor]: Taking taylor expansion of phi2 in R 41.535 * [backup-simplify]: Simplify phi2 into phi2 41.535 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.535 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in R 41.535 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 41.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.535 * [taylor]: Taking taylor expansion of -0.5 in R 41.535 * [backup-simplify]: Simplify -0.5 into -0.5 41.535 * [taylor]: Taking taylor expansion of phi2 in R 41.535 * [backup-simplify]: Simplify phi2 into phi2 41.535 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.536 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in R 41.536 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 41.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.536 * [taylor]: Taking taylor expansion of -0.5 in R 41.536 * [backup-simplify]: Simplify -0.5 into -0.5 41.536 * [taylor]: Taking taylor expansion of phi1 in R 41.536 * [backup-simplify]: Simplify phi1 into phi1 41.536 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.536 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 41.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.536 * [taylor]: Taking taylor expansion of -0.5 in R 41.536 * [backup-simplify]: Simplify -0.5 into -0.5 41.536 * [taylor]: Taking taylor expansion of phi1 in R 41.536 * [backup-simplify]: Simplify phi1 into phi1 41.536 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.536 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R 41.536 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 41.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.536 * [taylor]: Taking taylor expansion of -0.5 in R 41.536 * [backup-simplify]: Simplify -0.5 into -0.5 41.536 * [taylor]: Taking taylor expansion of phi2 in R 41.536 * [backup-simplify]: Simplify phi2 into phi2 41.536 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.536 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R 41.536 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 41.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.536 * [taylor]: Taking taylor expansion of -0.5 in R 41.537 * [backup-simplify]: Simplify -0.5 into -0.5 41.537 * [taylor]: Taking taylor expansion of phi2 in R 41.537 * [backup-simplify]: Simplify phi2 into phi2 41.537 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.537 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.537 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.537 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R 41.537 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 41.537 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.537 * [taylor]: Taking taylor expansion of -0.5 in R 41.537 * [backup-simplify]: Simplify -0.5 into -0.5 41.537 * [taylor]: Taking taylor expansion of phi1 in R 41.537 * [backup-simplify]: Simplify phi1 into phi1 41.537 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.537 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.537 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.537 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 41.537 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.537 * [taylor]: Taking taylor expansion of -0.5 in R 41.537 * [backup-simplify]: Simplify -0.5 into -0.5 41.537 * [taylor]: Taking taylor expansion of phi1 in R 41.537 * [backup-simplify]: Simplify phi1 into phi1 41.537 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.537 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.537 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 41.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 41.538 * [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)) 41.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 41.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 41.538 * [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)) 41.539 * [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))) 41.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 41.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 41.539 * [backup-simplify]: Simplify (- 0) into 0 41.539 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 41.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 41.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 41.539 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 41.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.540 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.540 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.543 * [backup-simplify]: Simplify (- 0) into 0 41.543 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 41.543 * [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)))) 41.544 * [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))))) 41.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 41.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 41.544 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 41.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 41.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 41.545 * [backup-simplify]: Simplify (- 0) into 0 41.545 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 41.545 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.545 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.545 * [backup-simplify]: Simplify (- 0) into 0 41.545 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.546 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.546 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.546 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.546 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 41.546 * [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)))) 41.546 * [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))))) 41.546 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 41.547 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 41.548 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 41.549 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 41.550 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 41.551 * [backup-simplify]: Simplify (+ 0) into 0 41.551 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.552 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.552 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.552 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.553 * [backup-simplify]: Simplify (- 0) into 0 41.553 * [backup-simplify]: Simplify (+ 0 0) into 0 41.553 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 41.553 * [backup-simplify]: Simplify (+ 0) into 0 41.554 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.554 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.554 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.555 * [backup-simplify]: Simplify (- 0) into 0 41.555 * [backup-simplify]: Simplify (+ 0 0) into 0 41.556 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 41.556 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 41.556 * [backup-simplify]: Simplify (+ 0) into 0 41.557 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.557 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.558 * [backup-simplify]: Simplify (+ 0 0) into 0 41.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 41.558 * [backup-simplify]: Simplify (+ 0) into 0 41.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.559 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.559 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.560 * [backup-simplify]: Simplify (+ 0 0) into 0 41.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 41.560 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 41.560 * [backup-simplify]: Simplify (+ 0 0) into 0 41.560 * [backup-simplify]: Simplify (+ 0) into 0 41.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.561 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.562 * [backup-simplify]: Simplify (- 0) into 0 41.562 * [backup-simplify]: Simplify (+ 0 0) into 0 41.562 * [backup-simplify]: Simplify (+ 0) into 0 41.563 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.563 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.564 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.564 * [backup-simplify]: Simplify (+ 0 0) into 0 41.564 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 41.564 * [backup-simplify]: Simplify (+ 0) into 0 41.565 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.565 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.566 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.566 * [backup-simplify]: Simplify (+ 0 0) into 0 41.566 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 41.566 * [backup-simplify]: Simplify (+ 0) into 0 41.566 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.567 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.568 * [backup-simplify]: Simplify (- 0) into 0 41.568 * [backup-simplify]: Simplify (+ 0 0) into 0 41.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 41.568 * [backup-simplify]: Simplify (+ 0) into 0 41.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.570 * [backup-simplify]: Simplify (+ 0 0) into 0 41.570 * [backup-simplify]: Simplify (+ 0) into 0 41.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.571 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.572 * [backup-simplify]: Simplify (- 0) into 0 41.572 * [backup-simplify]: Simplify (+ 0 0) into 0 41.572 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 41.572 * [backup-simplify]: Simplify (+ 0) into 0 41.573 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.573 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.573 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.574 * [backup-simplify]: Simplify (- 0) into 0 41.574 * [backup-simplify]: Simplify (+ 0 0) into 0 41.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 41.574 * [backup-simplify]: Simplify (+ 0) into 0 41.575 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.575 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.576 * [backup-simplify]: Simplify (+ 0 0) into 0 41.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 41.576 * [backup-simplify]: Simplify (+ 0 0) into 0 41.577 * [backup-simplify]: Simplify (- 0) into 0 41.577 * [backup-simplify]: Simplify (+ 0 0) into 0 41.579 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.580 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.580 * [taylor]: Taking taylor expansion of (/ 1 R) in R 41.580 * [taylor]: Taking taylor expansion of R in R 41.580 * [backup-simplify]: Simplify 0 into 0 41.580 * [backup-simplify]: Simplify 1 into 1 41.581 * [backup-simplify]: Simplify (/ 1 1) into 1 41.582 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 41.583 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 41.584 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.584 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.585 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.586 * [backup-simplify]: Simplify (- 0) into 0 41.586 * [backup-simplify]: Simplify (+ 0 0) into 0 41.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.587 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.588 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.588 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.588 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.589 * [backup-simplify]: Simplify (- 0) into 0 41.589 * [backup-simplify]: Simplify (+ 0 0) into 0 41.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 41.590 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 41.591 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.591 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.592 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.592 * [backup-simplify]: Simplify (+ 0 0) into 0 41.593 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.593 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.594 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.595 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.595 * [backup-simplify]: Simplify (+ 0 0) into 0 41.596 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 41.596 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 41.596 * [backup-simplify]: Simplify (+ 0 0) into 0 41.597 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.597 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.598 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.598 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.598 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.599 * [backup-simplify]: Simplify (- 0) into 0 41.599 * [backup-simplify]: Simplify (+ 0 0) into 0 41.599 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.600 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.600 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.601 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.601 * [backup-simplify]: Simplify (+ 0 0) into 0 41.602 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.602 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.603 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.603 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.603 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.604 * [backup-simplify]: Simplify (+ 0 0) into 0 41.604 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 41.605 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.606 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.606 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.606 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.607 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.607 * [backup-simplify]: Simplify (- 0) into 0 41.607 * [backup-simplify]: Simplify (+ 0 0) into 0 41.608 * [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 41.608 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.609 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.609 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.610 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.611 * [backup-simplify]: Simplify (+ 0 0) into 0 41.612 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.613 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.613 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.614 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.614 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.615 * [backup-simplify]: Simplify (- 0) into 0 41.615 * [backup-simplify]: Simplify (+ 0 0) into 0 41.616 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.617 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.617 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.618 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.618 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.619 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.619 * [backup-simplify]: Simplify (- 0) into 0 41.620 * [backup-simplify]: Simplify (+ 0 0) into 0 41.620 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 41.621 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.622 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.622 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.623 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.624 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.624 * [backup-simplify]: Simplify (+ 0 0) into 0 41.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 41.625 * [backup-simplify]: Simplify (+ 0 0) into 0 41.626 * [backup-simplify]: Simplify (- 0) into 0 41.626 * [backup-simplify]: Simplify (+ 0 0) into 0 41.632 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.635 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.636 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.637 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.637 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.638 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.639 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.639 * [backup-simplify]: Simplify (+ 0 0) into 0 41.640 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.641 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.642 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.643 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.643 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.644 * [backup-simplify]: Simplify (+ 0 0) into 0 41.644 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 41.645 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 41.646 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 41.646 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 41.649 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 41.651 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.651 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.652 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.653 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.653 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.654 * [backup-simplify]: Simplify (- 0) into 0 41.654 * [backup-simplify]: Simplify (+ 0 0) into 0 41.655 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.656 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.657 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.657 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.658 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.659 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.659 * [backup-simplify]: Simplify (- 0) into 0 41.659 * [backup-simplify]: Simplify (+ 0 0) into 0 41.660 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 41.661 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 41.662 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.667 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.667 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.669 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.669 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.670 * [backup-simplify]: Simplify (+ 0 0) into 0 41.670 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.671 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.672 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.672 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.673 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.674 * [backup-simplify]: Simplify (+ 0 0) into 0 41.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 41.676 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 41.676 * [backup-simplify]: Simplify (+ 0 0) into 0 41.677 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.678 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.679 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.680 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.680 * [backup-simplify]: Simplify (- 0) into 0 41.680 * [backup-simplify]: Simplify (+ 0 0) into 0 41.681 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.683 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.683 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.684 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.684 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.685 * [backup-simplify]: Simplify (+ 0 0) into 0 41.686 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.687 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.688 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.689 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.690 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.691 * [backup-simplify]: Simplify (+ 0 0) into 0 41.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 41.693 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.694 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.694 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.695 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.696 * [backup-simplify]: Simplify (- 0) into 0 41.696 * [backup-simplify]: Simplify (+ 0 0) into 0 41.697 * [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 41.698 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.699 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.700 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.700 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.701 * [backup-simplify]: Simplify (+ 0 0) into 0 41.702 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.703 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.704 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.704 * [backup-simplify]: Simplify (- 0) into 0 41.705 * [backup-simplify]: Simplify (+ 0 0) into 0 41.705 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.706 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.707 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.708 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.709 * [backup-simplify]: Simplify (- 0) into 0 41.709 * [backup-simplify]: Simplify (+ 0 0) into 0 41.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 41.711 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.712 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.713 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.714 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.714 * [backup-simplify]: Simplify (+ 0 0) into 0 41.715 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 41.715 * [backup-simplify]: Simplify (+ 0 0) into 0 41.715 * [backup-simplify]: Simplify (- 0) into 0 41.716 * [backup-simplify]: Simplify (+ 0 0) into 0 41.723 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.727 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.728 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.730 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.731 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.732 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.732 * [backup-simplify]: Simplify (- 0) into 0 41.732 * [backup-simplify]: Simplify (+ 0 0) into 0 41.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.734 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.735 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.736 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.737 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.737 * [backup-simplify]: Simplify (- 0) into 0 41.737 * [backup-simplify]: Simplify (+ 0 0) into 0 41.738 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 41.739 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 41.740 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 41.740 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 41.742 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 41.742 * [backup-simplify]: Simplify (+ 0 0) into 0 41.743 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.743 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.743 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.744 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.744 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.744 * [backup-simplify]: Simplify (- 0) into 0 41.745 * [backup-simplify]: Simplify (+ 0 0) into 0 41.745 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.746 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.746 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.746 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.747 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.747 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.747 * [backup-simplify]: Simplify (- 0) into 0 41.748 * [backup-simplify]: Simplify (+ 0 0) into 0 41.748 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 41.748 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 41.749 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.750 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.750 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.750 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.750 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.751 * [backup-simplify]: Simplify (+ 0 0) into 0 41.751 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.752 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.752 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.752 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.753 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.753 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.753 * [backup-simplify]: Simplify (+ 0 0) into 0 41.754 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 41.754 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 41.754 * [backup-simplify]: Simplify (+ 0 0) into 0 41.755 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.756 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.756 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.756 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.757 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.757 * [backup-simplify]: Simplify (- 0) into 0 41.757 * [backup-simplify]: Simplify (+ 0 0) into 0 41.758 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.758 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.758 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.759 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.759 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.759 * [backup-simplify]: Simplify (+ 0 0) into 0 41.760 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.760 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.761 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.761 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.761 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.762 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.762 * [backup-simplify]: Simplify (+ 0 0) into 0 41.762 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 41.763 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.764 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.764 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.764 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.765 * [backup-simplify]: Simplify (- 0) into 0 41.765 * [backup-simplify]: Simplify (+ 0 0) into 0 41.765 * [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 41.766 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.767 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.767 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.768 * [backup-simplify]: Simplify (+ 0 0) into 0 41.768 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.769 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.769 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.769 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.770 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.770 * [backup-simplify]: Simplify (- 0) into 0 41.770 * [backup-simplify]: Simplify (+ 0 0) into 0 41.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.771 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.771 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.772 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.772 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.773 * [backup-simplify]: Simplify (- 0) into 0 41.773 * [backup-simplify]: Simplify (+ 0 0) into 0 41.773 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 41.774 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.774 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.775 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.775 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.775 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.776 * [backup-simplify]: Simplify (+ 0 0) into 0 41.776 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 41.777 * [backup-simplify]: Simplify (+ 0 0) into 0 41.777 * [backup-simplify]: Simplify (- 0) into 0 41.777 * [backup-simplify]: Simplify (+ 0 0) into 0 41.780 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.782 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.783 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.783 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.784 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.784 * [backup-simplify]: Simplify (+ 0 0) into 0 41.785 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.786 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.787 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.788 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.788 * [backup-simplify]: Simplify (- 0) into 0 41.789 * [backup-simplify]: Simplify (+ 0 0) into 0 41.790 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.791 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.791 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.792 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.792 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.793 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.793 * [backup-simplify]: Simplify (- 0) into 0 41.794 * [backup-simplify]: Simplify (+ 0 0) into 0 41.795 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 41.796 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.796 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.797 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.800 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.800 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.800 * [backup-simplify]: Simplify (+ 0 0) into 0 41.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 41.801 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 41.802 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 41.803 * [backup-simplify]: Simplify (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 41.804 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.805 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.805 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.805 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.806 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.806 * [backup-simplify]: Simplify (- 0) into 0 41.806 * [backup-simplify]: Simplify (+ 0 0) into 0 41.806 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.807 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.807 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.808 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.808 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.808 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.809 * [backup-simplify]: Simplify (- 0) into 0 41.809 * [backup-simplify]: Simplify (+ 0 0) into 0 41.809 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 41.810 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 41.810 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.811 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.811 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.812 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.812 * [backup-simplify]: Simplify (+ 0 0) into 0 41.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.813 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.814 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.814 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.814 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.815 * [backup-simplify]: Simplify (+ 0 0) into 0 41.815 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 41.816 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 41.816 * [backup-simplify]: Simplify (+ 0 0) into 0 41.816 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.817 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.817 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.818 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.818 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.818 * [backup-simplify]: Simplify (- 0) into 0 41.818 * [backup-simplify]: Simplify (+ 0 0) into 0 41.819 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.819 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.820 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.820 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.820 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.821 * [backup-simplify]: Simplify (+ 0 0) into 0 41.821 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.822 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.822 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.822 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.823 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.823 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.823 * [backup-simplify]: Simplify (+ 0 0) into 0 41.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 41.824 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.825 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.825 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.826 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.826 * [backup-simplify]: Simplify (- 0) into 0 41.826 * [backup-simplify]: Simplify (+ 0 0) into 0 41.827 * [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 41.827 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.828 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.828 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.830 * [backup-simplify]: Simplify (+ 0 0) into 0 41.831 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.832 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.832 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.833 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.833 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.833 * [backup-simplify]: Simplify (- 0) into 0 41.834 * [backup-simplify]: Simplify (+ 0 0) into 0 41.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.835 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.836 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.837 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.838 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.838 * [backup-simplify]: Simplify (- 0) into 0 41.838 * [backup-simplify]: Simplify (+ 0 0) into 0 41.839 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 41.840 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.840 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.841 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.841 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.841 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.842 * [backup-simplify]: Simplify (+ 0 0) into 0 41.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 41.842 * [backup-simplify]: Simplify (+ 0 0) into 0 41.843 * [backup-simplify]: Simplify (- 0) into 0 41.843 * [backup-simplify]: Simplify (+ 0 0) into 0 41.846 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.848 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 41.849 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.850 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.850 * [backup-simplify]: Simplify (- 0) into 0 41.851 * [backup-simplify]: Simplify (+ 0 0) into 0 41.851 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.852 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.852 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.853 * [backup-simplify]: Simplify (+ 0 0) into 0 41.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.854 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.854 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.855 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.855 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.855 * [backup-simplify]: Simplify (+ 0 0) into 0 41.856 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 41.856 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.857 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.857 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.858 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.858 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.858 * [backup-simplify]: Simplify (- 0) into 0 41.858 * [backup-simplify]: Simplify (+ 0 0) into 0 41.859 * [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 41.859 * [backup-simplify]: Simplify (+ (* R 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 41.860 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 41.861 * [backup-simplify]: Simplify (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R) 0) (+ (* 0 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0 41.862 * [backup-simplify]: Simplify (+ 0 0) into 0 41.862 * [backup-simplify]: Simplify (- 0) into 0 41.862 * [backup-simplify]: Simplify (+ 0 0) into 0 41.862 * [taylor]: Taking taylor expansion of 0 in phi2 41.862 * [backup-simplify]: Simplify 0 into 0 41.862 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)) (* 0 (/ 0 R)))) into 0 41.863 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.863 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.864 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.864 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.864 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.865 * [backup-simplify]: Simplify (- 0) into 0 41.865 * [backup-simplify]: Simplify (+ 0 0) into 0 41.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.866 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.866 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.867 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.868 * [backup-simplify]: Simplify (- 0) into 0 41.868 * [backup-simplify]: Simplify (+ 0 0) into 0 41.868 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 41.869 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 41.869 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.870 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.870 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.870 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.871 * [backup-simplify]: Simplify (+ 0 0) into 0 41.871 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.872 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.872 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.872 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.873 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.873 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.873 * [backup-simplify]: Simplify (+ 0 0) into 0 41.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 41.874 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 41.875 * [backup-simplify]: Simplify (+ 0 0) into 0 41.875 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.876 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.876 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.877 * [backup-simplify]: Simplify (- 0) into 0 41.877 * [backup-simplify]: Simplify (+ 0 0) into 0 41.878 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.878 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.878 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.879 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.879 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.880 * [backup-simplify]: Simplify (+ 0 0) into 0 41.880 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 41.881 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.882 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.882 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.883 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.883 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.884 * [backup-simplify]: Simplify (+ 0 0) into 0 41.884 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 41.885 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.885 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.885 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.886 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.886 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.886 * [backup-simplify]: Simplify (- 0) into 0 41.887 * [backup-simplify]: Simplify (+ 0 0) into 0 41.887 * [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 41.888 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.888 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.888 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.889 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.889 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.889 * [backup-simplify]: Simplify (+ 0 0) into 0 41.890 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 41.891 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 41.891 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 41.892 * [backup-simplify]: Simplify (- 0) into 0 41.892 * [backup-simplify]: Simplify (+ 0 0) into 0 41.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 41.893 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.893 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.894 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.894 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.895 * [backup-simplify]: Simplify (- 0) into 0 41.895 * [backup-simplify]: Simplify (+ 0 0) into 0 41.895 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 41.896 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 41.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 41.896 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 41.897 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 41.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 41.901 * [backup-simplify]: Simplify (+ 0 0) into 0 41.901 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 41.902 * [backup-simplify]: Simplify (+ 0 0) into 0 41.902 * [backup-simplify]: Simplify (- 0) into 0 41.902 * [backup-simplify]: Simplify (+ 0 0) into 0 41.904 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0 41.905 * [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)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 0) (+ (* 0 0) (* 0 (/ 1 R)))) into 0 41.907 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 1 R))))) into 0 41.907 * [taylor]: Taking taylor expansion of 0 in phi2 41.907 * [backup-simplify]: Simplify 0 into 0 41.907 * [taylor]: Taking taylor expansion of 0 in phi1 41.907 * [backup-simplify]: Simplify 0 into 0 41.907 * [taylor]: Taking taylor expansion of 0 in phi1 41.907 * [backup-simplify]: Simplify 0 into 0 41.907 * [taylor]: Taking taylor expansion of 0 in phi1 41.907 * [backup-simplify]: Simplify 0 into 0 41.908 * [backup-simplify]: Simplify (+ 0) into 0 41.908 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.909 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.909 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.910 * [backup-simplify]: Simplify (- 0) into 0 41.910 * [backup-simplify]: Simplify (+ 0 0) into 0 41.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 41.910 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 41.910 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 41.911 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0 41.912 * [backup-simplify]: Simplify (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 41.913 * [backup-simplify]: Simplify (+ 0) into 0 41.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.913 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.914 * [backup-simplify]: Simplify (+ 0 0) into 0 41.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 41.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 41.915 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 41.915 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (/ 0 R)))) into 0 41.917 * [backup-simplify]: Simplify (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))))) into 0 41.917 * [backup-simplify]: Simplify (+ 0 0) into 0 41.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 41.917 * [backup-simplify]: Simplify (+ 0) into 0 41.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.918 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.919 * [backup-simplify]: Simplify (- 0) into 0 41.919 * [backup-simplify]: Simplify (+ 0 0) into 0 41.919 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into 0 41.920 * [backup-simplify]: Simplify (+ 0) into 0 41.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.920 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.921 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.921 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.921 * [backup-simplify]: Simplify (+ 0 0) into 0 41.921 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0 41.922 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) (/ 0 R)))) into 0 41.923 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 0) (* 0 (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R))) into 0 41.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 41.924 * [backup-simplify]: Simplify (+ 0) into 0 41.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.924 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.925 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.925 * [backup-simplify]: Simplify (+ 0 0) into 0 41.925 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into 0 41.926 * [backup-simplify]: Simplify (+ 0) into 0 41.926 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.926 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.927 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.928 * [backup-simplify]: Simplify (- 0) into 0 41.928 * [backup-simplify]: Simplify (+ 0 0) into 0 41.928 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0 41.928 * [backup-simplify]: Simplify (- (/ 0 R) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) (/ 0 R)))) into 0 41.930 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 0) (* 0 (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R))) into 0 41.930 * [backup-simplify]: Simplify (+ 0 0) into 0 41.930 * [backup-simplify]: Simplify (- 0) into 0 41.931 * [backup-simplify]: Simplify (+ 0 0) into 0 41.931 * [taylor]: Taking taylor expansion of 0 in phi1 41.931 * [backup-simplify]: Simplify 0 into 0 41.931 * [backup-simplify]: Simplify (- (+ (* (/ 1 R) (/ 0 R)))) into 0 41.932 * [backup-simplify]: Simplify (+ (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) 0) (* 0 (/ 1 R))) into 0 41.933 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (/ 1 R)))) into 0 41.933 * [taylor]: Taking taylor expansion of 0 in phi1 41.933 * [backup-simplify]: Simplify 0 into 0 41.935 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)) 41.936 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) 41.939 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R))) into (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) 41.941 * [backup-simplify]: Simplify (* (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)) 41.942 * [backup-simplify]: Simplify (* (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R)) 41.945 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R))) into (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) 41.949 * [backup-simplify]: Simplify (- (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) R)))) 41.956 * [backup-simplify]: Simplify (+ (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) R))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R))) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) 41.956 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R))) (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))) in R 41.956 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R))) in R 41.956 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R)) in R 41.956 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in R 41.956 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in R 41.956 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in R 41.956 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in R 41.956 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 41.956 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 41.956 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 41.956 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.956 * [taylor]: Taking taylor expansion of -0.5 in R 41.956 * [backup-simplify]: Simplify -0.5 into -0.5 41.956 * [taylor]: Taking taylor expansion of phi2 in R 41.956 * [backup-simplify]: Simplify phi2 into phi2 41.956 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.956 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.956 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 41.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 41.957 * [backup-simplify]: Simplify (- 0) into 0 41.957 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 41.957 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 41.957 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 41.957 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.957 * [taylor]: Taking taylor expansion of -0.5 in R 41.957 * [backup-simplify]: Simplify -0.5 into -0.5 41.957 * [taylor]: Taking taylor expansion of phi1 in R 41.957 * [backup-simplify]: Simplify phi1 into phi1 41.957 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.957 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.957 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.958 * [backup-simplify]: Simplify (- 0) into 0 41.958 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.958 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R 41.958 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 41.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 41.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.958 * [taylor]: Taking taylor expansion of -0.5 in R 41.958 * [backup-simplify]: Simplify -0.5 into -0.5 41.958 * [taylor]: Taking taylor expansion of phi2 in R 41.958 * [backup-simplify]: Simplify phi2 into phi2 41.958 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.958 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.958 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 41.958 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 41.958 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 41.958 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 41.958 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 41.958 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.958 * [taylor]: Taking taylor expansion of -0.5 in R 41.958 * [backup-simplify]: Simplify -0.5 into -0.5 41.958 * [taylor]: Taking taylor expansion of phi1 in R 41.958 * [backup-simplify]: Simplify phi1 into phi1 41.959 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.959 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.959 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.959 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.959 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in R 41.959 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in R 41.959 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 41.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.959 * [taylor]: Taking taylor expansion of -0.5 in R 41.959 * [backup-simplify]: Simplify -0.5 into -0.5 41.959 * [taylor]: Taking taylor expansion of phi2 in R 41.959 * [backup-simplify]: Simplify phi2 into phi2 41.959 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.959 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in R 41.959 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 41.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.959 * [taylor]: Taking taylor expansion of -0.5 in R 41.959 * [backup-simplify]: Simplify -0.5 into -0.5 41.959 * [taylor]: Taking taylor expansion of phi1 in R 41.959 * [backup-simplify]: Simplify phi1 into phi1 41.959 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.959 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.959 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.959 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in R 41.959 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 41.959 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.959 * [taylor]: Taking taylor expansion of -0.5 in R 41.960 * [backup-simplify]: Simplify -0.5 into -0.5 41.960 * [taylor]: Taking taylor expansion of phi1 in R 41.960 * [backup-simplify]: Simplify phi1 into phi1 41.960 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.960 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 41.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.960 * [taylor]: Taking taylor expansion of -0.5 in R 41.960 * [backup-simplify]: Simplify -0.5 into -0.5 41.960 * [taylor]: Taking taylor expansion of phi2 in R 41.960 * [backup-simplify]: Simplify phi2 into phi2 41.960 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.960 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in R 41.960 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 41.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.960 * [taylor]: Taking taylor expansion of -0.5 in R 41.960 * [backup-simplify]: Simplify -0.5 into -0.5 41.960 * [taylor]: Taking taylor expansion of phi2 in R 41.960 * [backup-simplify]: Simplify phi2 into phi2 41.960 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.960 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in R 41.960 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 41.960 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.960 * [taylor]: Taking taylor expansion of -0.5 in R 41.960 * [backup-simplify]: Simplify -0.5 into -0.5 41.960 * [taylor]: Taking taylor expansion of phi1 in R 41.960 * [backup-simplify]: Simplify phi1 into phi1 41.960 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.960 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.960 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.960 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in R 41.961 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 41.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 41.961 * [taylor]: Taking taylor expansion of -0.5 in R 41.961 * [backup-simplify]: Simplify -0.5 into -0.5 41.961 * [taylor]: Taking taylor expansion of phi1 in R 41.961 * [backup-simplify]: Simplify phi1 into phi1 41.961 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 41.961 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 41.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 41.961 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 41.961 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 41.961 * [taylor]: Taking taylor expansion of -0.5 in R 41.961 * [backup-simplify]: Simplify -0.5 into -0.5 41.961 * [taylor]: Taking taylor expansion of phi2 in R 41.961 * [backup-simplify]: Simplify phi2 into phi2 41.961 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 41.961 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 41.961 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 41.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 41.961 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 41.961 * [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)) 41.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 41.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 41.962 * [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)) 41.962 * [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))) 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))) 41.962 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 41.962 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 41.963 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 41.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.963 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.963 * [backup-simplify]: Simplify (- 0) into 0 41.963 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.963 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 41.963 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 41.964 * [backup-simplify]: Simplify (- 0) into 0 41.964 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 41.964 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 41.964 * [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)))) 41.964 * [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))))) 41.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 41.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 41.965 * [backup-simplify]: Simplify (- 0) into 0 41.965 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 41.965 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 41.965 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 41.965 * [backup-simplify]: Simplify (- 0) into 0 41.966 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 41.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 41.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 41.966 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 41.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 41.966 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 41.966 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 41.966 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 41.966 * [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)))) 41.966 * [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))))) 41.967 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 41.967 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 41.968 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 41.969 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 41.970 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) 41.971 * [backup-simplify]: Simplify (+ 0) into 0 41.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.971 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.972 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.972 * [backup-simplify]: Simplify (- 0) into 0 41.973 * [backup-simplify]: Simplify (+ 0 0) into 0 41.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 41.973 * [backup-simplify]: Simplify (+ 0) into 0 41.973 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.974 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.974 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.974 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.975 * [backup-simplify]: Simplify (- 0) into 0 41.975 * [backup-simplify]: Simplify (+ 0 0) into 0 41.975 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 41.975 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 41.976 * [backup-simplify]: Simplify (+ 0) into 0 41.976 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.976 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.977 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.977 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.977 * [backup-simplify]: Simplify (+ 0 0) into 0 41.977 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 41.978 * [backup-simplify]: Simplify (+ 0) into 0 41.978 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.978 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.979 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.979 * [backup-simplify]: Simplify (+ 0 0) into 0 41.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 41.980 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 41.980 * [backup-simplify]: Simplify (+ 0 0) into 0 41.980 * [backup-simplify]: Simplify (+ 0) into 0 41.981 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.981 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.982 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.982 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.983 * [backup-simplify]: Simplify (- 0) into 0 41.983 * [backup-simplify]: Simplify (+ 0 0) into 0 41.983 * [backup-simplify]: Simplify (+ 0) into 0 41.984 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.984 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.985 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.986 * [backup-simplify]: Simplify (- 0) into 0 41.986 * [backup-simplify]: Simplify (+ 0 0) into 0 41.986 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 41.987 * [backup-simplify]: Simplify (+ 0) into 0 41.987 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.987 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.988 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.989 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.989 * [backup-simplify]: Simplify (+ 0 0) into 0 41.989 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 41.990 * [backup-simplify]: Simplify (+ 0) into 0 41.990 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.991 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.991 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.992 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.992 * [backup-simplify]: Simplify (+ 0 0) into 0 41.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 41.993 * [backup-simplify]: Simplify (+ 0) into 0 41.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 41.994 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 41.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.995 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 41.995 * [backup-simplify]: Simplify (+ 0 0) into 0 41.996 * [backup-simplify]: Simplify (+ 0) into 0 41.996 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.996 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 41.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 41.998 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 41.998 * [backup-simplify]: Simplify (+ 0 0) into 0 41.998 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 41.999 * [backup-simplify]: Simplify (+ 0) into 0 41.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 41.999 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.000 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.001 * [backup-simplify]: Simplify (- 0) into 0 42.001 * [backup-simplify]: Simplify (+ 0 0) into 0 42.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 42.002 * [backup-simplify]: Simplify (+ 0) into 0 42.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.003 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.003 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.004 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.004 * [backup-simplify]: Simplify (- 0) into 0 42.005 * [backup-simplify]: Simplify (+ 0 0) into 0 42.005 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 42.005 * [backup-simplify]: Simplify (+ 0 0) into 0 42.006 * [backup-simplify]: Simplify (- 0) into 0 42.006 * [backup-simplify]: Simplify (+ 0 0) into 0 42.010 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0 42.012 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0 42.012 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) R) in R 42.012 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R 42.012 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 42.012 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.012 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.012 * [taylor]: Taking taylor expansion of -0.5 in R 42.012 * [backup-simplify]: Simplify -0.5 into -0.5 42.012 * [taylor]: Taking taylor expansion of phi2 in R 42.012 * [backup-simplify]: Simplify phi2 into phi2 42.012 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.012 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.012 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.012 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.012 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.012 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.012 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 42.012 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.013 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.013 * [taylor]: Taking taylor expansion of -0.5 in R 42.013 * [backup-simplify]: Simplify -0.5 into -0.5 42.013 * [taylor]: Taking taylor expansion of phi1 in R 42.013 * [backup-simplify]: Simplify phi1 into phi1 42.013 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.013 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.013 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.013 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.013 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.013 * [taylor]: Taking taylor expansion of R in R 42.013 * [backup-simplify]: Simplify 0 into 0 42.013 * [backup-simplify]: Simplify 1 into 1 42.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 42.013 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 42.014 * [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)) 42.014 * [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)) 42.014 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R)) in R 42.014 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in R 42.014 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in R 42.014 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in R 42.014 * [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 R 42.014 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 42.015 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 42.015 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.015 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.015 * [taylor]: Taking taylor expansion of -0.5 in R 42.015 * [backup-simplify]: Simplify -0.5 into -0.5 42.015 * [taylor]: Taking taylor expansion of phi2 in R 42.015 * [backup-simplify]: Simplify phi2 into phi2 42.015 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.015 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.015 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.015 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.015 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.016 * [backup-simplify]: Simplify (- 0) into 0 42.016 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.016 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 42.016 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.016 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.016 * [taylor]: Taking taylor expansion of -0.5 in R 42.016 * [backup-simplify]: Simplify -0.5 into -0.5 42.016 * [taylor]: Taking taylor expansion of phi1 in R 42.016 * [backup-simplify]: Simplify phi1 into phi1 42.016 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.016 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.016 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.016 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.016 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.017 * [backup-simplify]: Simplify (- 0) into 0 42.017 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.017 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R 42.017 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 42.017 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.017 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.017 * [taylor]: Taking taylor expansion of -0.5 in R 42.017 * [backup-simplify]: Simplify -0.5 into -0.5 42.017 * [taylor]: Taking taylor expansion of phi2 in R 42.017 * [backup-simplify]: Simplify phi2 into phi2 42.017 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.017 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.017 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.017 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.017 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.018 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.018 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 42.018 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.018 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.018 * [taylor]: Taking taylor expansion of -0.5 in R 42.018 * [backup-simplify]: Simplify -0.5 into -0.5 42.018 * [taylor]: Taking taylor expansion of phi1 in R 42.018 * [backup-simplify]: Simplify phi1 into phi1 42.018 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.018 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.018 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.018 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.018 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.018 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.018 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in R 42.018 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in R 42.018 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.018 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.018 * [taylor]: Taking taylor expansion of -0.5 in R 42.018 * [backup-simplify]: Simplify -0.5 into -0.5 42.018 * [taylor]: Taking taylor expansion of phi2 in R 42.019 * [backup-simplify]: Simplify phi2 into phi2 42.019 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.019 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.019 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.019 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in R 42.019 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.019 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.019 * [taylor]: Taking taylor expansion of -0.5 in R 42.019 * [backup-simplify]: Simplify -0.5 into -0.5 42.019 * [taylor]: Taking taylor expansion of phi1 in R 42.019 * [backup-simplify]: Simplify phi1 into phi1 42.019 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.019 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.019 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.019 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in R 42.019 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.019 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.019 * [taylor]: Taking taylor expansion of -0.5 in R 42.019 * [backup-simplify]: Simplify -0.5 into -0.5 42.019 * [taylor]: Taking taylor expansion of phi1 in R 42.019 * [backup-simplify]: Simplify phi1 into phi1 42.019 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.019 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.020 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.020 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.020 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.020 * [taylor]: Taking taylor expansion of -0.5 in R 42.020 * [backup-simplify]: Simplify -0.5 into -0.5 42.020 * [taylor]: Taking taylor expansion of phi2 in R 42.020 * [backup-simplify]: Simplify phi2 into phi2 42.020 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.020 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.020 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.020 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in R 42.020 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.020 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.020 * [taylor]: Taking taylor expansion of -0.5 in R 42.020 * [backup-simplify]: Simplify -0.5 into -0.5 42.020 * [taylor]: Taking taylor expansion of phi2 in R 42.020 * [backup-simplify]: Simplify phi2 into phi2 42.020 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.020 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.020 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.021 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in R 42.021 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.021 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.021 * [taylor]: Taking taylor expansion of -0.5 in R 42.021 * [backup-simplify]: Simplify -0.5 into -0.5 42.021 * [taylor]: Taking taylor expansion of phi1 in R 42.021 * [backup-simplify]: Simplify phi1 into phi1 42.021 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.021 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.021 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.021 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in R 42.021 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.021 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.021 * [taylor]: Taking taylor expansion of -0.5 in R 42.021 * [backup-simplify]: Simplify -0.5 into -0.5 42.021 * [taylor]: Taking taylor expansion of phi1 in R 42.021 * [backup-simplify]: Simplify phi1 into phi1 42.021 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.021 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.021 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.021 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.021 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.021 * [taylor]: Taking taylor expansion of -0.5 in R 42.021 * [backup-simplify]: Simplify -0.5 into -0.5 42.021 * [taylor]: Taking taylor expansion of phi2 in R 42.021 * [backup-simplify]: Simplify phi2 into phi2 42.022 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.022 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.022 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.022 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 42.022 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 42.022 * [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)) 42.023 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 42.023 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 42.023 * [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)) 42.024 * [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))) 42.024 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.024 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.024 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.024 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.024 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.024 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.024 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.024 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.025 * [backup-simplify]: Simplify (- 0) into 0 42.025 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.025 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.025 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.030 * [backup-simplify]: Simplify (- 0) into 0 42.030 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 42.031 * [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)))) 42.031 * [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))))) 42.031 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.031 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.032 * [backup-simplify]: Simplify (- 0) into 0 42.032 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.032 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.032 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.033 * [backup-simplify]: Simplify (- 0) into 0 42.033 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.033 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.033 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.033 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.033 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.033 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.033 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.033 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 42.034 * [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)))) 42.034 * [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))))) 42.035 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) 42.035 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 42.037 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 42.039 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) 42.041 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) 42.041 * [backup-simplify]: Simplify (+ 0) into 0 42.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.042 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.043 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.044 * [backup-simplify]: Simplify (- 0) into 0 42.044 * [backup-simplify]: Simplify (+ 0 0) into 0 42.044 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 42.044 * [backup-simplify]: Simplify (+ 0) into 0 42.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.045 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.045 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.046 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.046 * [backup-simplify]: Simplify (- 0) into 0 42.046 * [backup-simplify]: Simplify (+ 0 0) into 0 42.046 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 42.047 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 42.048 * [backup-simplify]: Simplify (+ 0) into 0 42.048 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.048 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.049 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.049 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.050 * [backup-simplify]: Simplify (+ 0 0) into 0 42.050 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 42.050 * [backup-simplify]: Simplify (+ 0) into 0 42.050 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.051 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.051 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.051 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.052 * [backup-simplify]: Simplify (+ 0 0) into 0 42.052 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 42.052 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 42.052 * [backup-simplify]: Simplify (+ 0 0) into 0 42.053 * [backup-simplify]: Simplify (+ 0) into 0 42.053 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.054 * [backup-simplify]: Simplify (- 0) into 0 42.055 * [backup-simplify]: Simplify (+ 0 0) into 0 42.055 * [backup-simplify]: Simplify (+ 0) into 0 42.055 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.055 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.056 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.056 * [backup-simplify]: Simplify (- 0) into 0 42.057 * [backup-simplify]: Simplify (+ 0 0) into 0 42.057 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 42.057 * [backup-simplify]: Simplify (+ 0) into 0 42.057 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.057 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.058 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.058 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.058 * [backup-simplify]: Simplify (+ 0 0) into 0 42.059 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0 42.059 * [backup-simplify]: Simplify (+ 0) into 0 42.059 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.059 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.060 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.060 * [backup-simplify]: Simplify (+ 0 0) into 0 42.061 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0 42.061 * [backup-simplify]: Simplify (+ 0) into 0 42.061 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.061 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.062 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.062 * [backup-simplify]: Simplify (+ 0 0) into 0 42.062 * [backup-simplify]: Simplify (+ 0) into 0 42.063 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.063 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.063 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.064 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.064 * [backup-simplify]: Simplify (+ 0 0) into 0 42.064 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 42.064 * [backup-simplify]: Simplify (+ 0) into 0 42.065 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.065 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.065 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.066 * [backup-simplify]: Simplify (- 0) into 0 42.066 * [backup-simplify]: Simplify (+ 0 0) into 0 42.066 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0 42.066 * [backup-simplify]: Simplify (+ 0) into 0 42.067 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.067 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.067 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.068 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.068 * [backup-simplify]: Simplify (- 0) into 0 42.068 * [backup-simplify]: Simplify (+ 0 0) into 0 42.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0 42.069 * [backup-simplify]: Simplify (+ 0 0) into 0 42.069 * [backup-simplify]: Simplify (- 0) into 0 42.069 * [backup-simplify]: Simplify (+ 0 0) into 0 42.071 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0 42.072 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0 42.073 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) R) in R 42.073 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 42.073 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 42.073 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.073 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.073 * [taylor]: Taking taylor expansion of -0.5 in R 42.073 * [backup-simplify]: Simplify -0.5 into -0.5 42.073 * [taylor]: Taking taylor expansion of phi2 in R 42.073 * [backup-simplify]: Simplify phi2 into phi2 42.073 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.073 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.073 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.073 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.073 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.073 * [backup-simplify]: Simplify (- 0) into 0 42.073 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.073 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 42.073 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.073 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.073 * [taylor]: Taking taylor expansion of -0.5 in R 42.073 * [backup-simplify]: Simplify -0.5 into -0.5 42.074 * [taylor]: Taking taylor expansion of phi1 in R 42.074 * [backup-simplify]: Simplify phi1 into phi1 42.074 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.074 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.074 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.074 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.074 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.074 * [backup-simplify]: Simplify (- 0) into 0 42.074 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.074 * [taylor]: Taking taylor expansion of R in R 42.074 * [backup-simplify]: Simplify 0 into 0 42.074 * [backup-simplify]: Simplify 1 into 1 42.074 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 42.074 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 42.075 * [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)) 42.075 * [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)) 42.075 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in R 42.075 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in R 42.075 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) R) in R 42.075 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in R 42.075 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.075 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.075 * [taylor]: Taking taylor expansion of -0.5 in R 42.075 * [backup-simplify]: Simplify -0.5 into -0.5 42.075 * [taylor]: Taking taylor expansion of phi1 in R 42.075 * [backup-simplify]: Simplify phi1 into phi1 42.075 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.075 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.075 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.075 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in R 42.075 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.075 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.075 * [taylor]: Taking taylor expansion of -0.5 in R 42.075 * [backup-simplify]: Simplify -0.5 into -0.5 42.075 * [taylor]: Taking taylor expansion of phi2 in R 42.075 * [backup-simplify]: Simplify phi2 into phi2 42.075 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.075 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.075 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.076 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in R 42.076 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.076 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.076 * [taylor]: Taking taylor expansion of -0.5 in R 42.076 * [backup-simplify]: Simplify -0.5 into -0.5 42.076 * [taylor]: Taking taylor expansion of phi1 in R 42.076 * [backup-simplify]: Simplify phi1 into phi1 42.076 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.076 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.076 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.076 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.076 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.076 * [taylor]: Taking taylor expansion of -0.5 in R 42.076 * [backup-simplify]: Simplify -0.5 into -0.5 42.076 * [taylor]: Taking taylor expansion of phi2 in R 42.076 * [backup-simplify]: Simplify phi2 into phi2 42.076 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.076 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.076 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.076 * [taylor]: Taking taylor expansion of R in R 42.076 * [backup-simplify]: Simplify 0 into 0 42.076 * [backup-simplify]: Simplify 1 into 1 42.076 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.076 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.077 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.077 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.077 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.077 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.077 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.077 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.078 * [backup-simplify]: Simplify (- 0) into 0 42.078 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.078 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.078 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.078 * [backup-simplify]: Simplify (- 0) into 0 42.078 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.079 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) 42.079 * [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)))) 42.079 * [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))))) 42.080 * [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))))) 42.080 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in R 42.080 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in R 42.080 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R 42.080 * [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 R 42.080 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 42.080 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 42.080 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.080 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.080 * [taylor]: Taking taylor expansion of -0.5 in R 42.080 * [backup-simplify]: Simplify -0.5 into -0.5 42.080 * [taylor]: Taking taylor expansion of phi2 in R 42.080 * [backup-simplify]: Simplify phi2 into phi2 42.080 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.080 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.080 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.080 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.081 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.081 * [backup-simplify]: Simplify (- 0) into 0 42.081 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.081 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 42.081 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.081 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.081 * [taylor]: Taking taylor expansion of -0.5 in R 42.081 * [backup-simplify]: Simplify -0.5 into -0.5 42.081 * [taylor]: Taking taylor expansion of phi1 in R 42.081 * [backup-simplify]: Simplify phi1 into phi1 42.081 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.082 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.082 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.082 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.082 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.082 * [backup-simplify]: Simplify (- 0) into 0 42.082 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.083 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R 42.083 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 42.083 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.083 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.083 * [taylor]: Taking taylor expansion of -0.5 in R 42.083 * [backup-simplify]: Simplify -0.5 into -0.5 42.083 * [taylor]: Taking taylor expansion of phi2 in R 42.083 * [backup-simplify]: Simplify phi2 into phi2 42.083 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.083 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.083 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.083 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.083 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.083 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.083 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 42.083 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.084 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.084 * [taylor]: Taking taylor expansion of -0.5 in R 42.084 * [backup-simplify]: Simplify -0.5 into -0.5 42.084 * [taylor]: Taking taylor expansion of phi1 in R 42.084 * [backup-simplify]: Simplify phi1 into phi1 42.084 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.084 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.084 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.084 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.084 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.084 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.084 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R 42.084 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in R 42.084 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.084 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.084 * [taylor]: Taking taylor expansion of -0.5 in R 42.084 * [backup-simplify]: Simplify -0.5 into -0.5 42.084 * [taylor]: Taking taylor expansion of phi2 in R 42.085 * [backup-simplify]: Simplify phi2 into phi2 42.085 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.085 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.085 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.085 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in R 42.085 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.085 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.085 * [taylor]: Taking taylor expansion of -0.5 in R 42.085 * [backup-simplify]: Simplify -0.5 into -0.5 42.085 * [taylor]: Taking taylor expansion of phi2 in R 42.085 * [backup-simplify]: Simplify phi2 into phi2 42.085 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.085 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.085 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.085 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in R 42.085 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.085 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.085 * [taylor]: Taking taylor expansion of -0.5 in R 42.085 * [backup-simplify]: Simplify -0.5 into -0.5 42.085 * [taylor]: Taking taylor expansion of phi1 in R 42.085 * [backup-simplify]: Simplify phi1 into phi1 42.086 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.086 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.086 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.086 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.086 * [taylor]: Taking taylor expansion of -0.5 in R 42.086 * [backup-simplify]: Simplify -0.5 into -0.5 42.086 * [taylor]: Taking taylor expansion of phi1 in R 42.086 * [backup-simplify]: Simplify phi1 into phi1 42.086 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.086 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.086 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.086 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R 42.086 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.086 * [taylor]: Taking taylor expansion of -0.5 in R 42.086 * [backup-simplify]: Simplify -0.5 into -0.5 42.086 * [taylor]: Taking taylor expansion of phi2 in R 42.086 * [backup-simplify]: Simplify phi2 into phi2 42.086 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.086 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.087 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.087 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R 42.087 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.087 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.087 * [taylor]: Taking taylor expansion of -0.5 in R 42.087 * [backup-simplify]: Simplify -0.5 into -0.5 42.087 * [taylor]: Taking taylor expansion of phi2 in R 42.087 * [backup-simplify]: Simplify phi2 into phi2 42.087 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.087 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.087 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.087 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R 42.087 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.087 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.087 * [taylor]: Taking taylor expansion of -0.5 in R 42.087 * [backup-simplify]: Simplify -0.5 into -0.5 42.087 * [taylor]: Taking taylor expansion of phi1 in R 42.087 * [backup-simplify]: Simplify phi1 into phi1 42.087 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.087 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.088 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.088 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.088 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.088 * [taylor]: Taking taylor expansion of -0.5 in R 42.088 * [backup-simplify]: Simplify -0.5 into -0.5 42.088 * [taylor]: Taking taylor expansion of phi1 in R 42.088 * [backup-simplify]: Simplify phi1 into phi1 42.088 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.088 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.088 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.088 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 42.089 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 42.089 * [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)) 42.089 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 42.089 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 42.090 * [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)) 42.091 * [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))) 42.091 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.091 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.091 * [backup-simplify]: Simplify (- 0) into 0 42.092 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.092 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.092 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.092 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.092 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.093 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.093 * [backup-simplify]: Simplify (- 0) into 0 42.093 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 42.094 * [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)))) 42.094 * [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))))) 42.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.094 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.095 * [backup-simplify]: Simplify (- 0) into 0 42.095 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.096 * [backup-simplify]: Simplify (- 0) into 0 42.096 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.096 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.096 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.096 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.096 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 42.097 * [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)))) 42.097 * [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))))) 42.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 42.099 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 42.101 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 42.103 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 42.105 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 42.106 * [backup-simplify]: Simplify (+ 0) into 0 42.106 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.107 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.108 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.108 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.108 * [backup-simplify]: Simplify (- 0) into 0 42.109 * [backup-simplify]: Simplify (+ 0 0) into 0 42.109 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 42.109 * [backup-simplify]: Simplify (+ 0) into 0 42.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.110 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.112 * [backup-simplify]: Simplify (- 0) into 0 42.112 * [backup-simplify]: Simplify (+ 0 0) into 0 42.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 42.113 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 42.113 * [backup-simplify]: Simplify (+ 0) into 0 42.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.114 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.115 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.116 * [backup-simplify]: Simplify (+ 0 0) into 0 42.116 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 42.117 * [backup-simplify]: Simplify (+ 0) into 0 42.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.119 * [backup-simplify]: Simplify (+ 0 0) into 0 42.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 42.120 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 42.120 * [backup-simplify]: Simplify (+ 0 0) into 0 42.121 * [backup-simplify]: Simplify (+ 0) into 0 42.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.122 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.123 * [backup-simplify]: Simplify (- 0) into 0 42.124 * [backup-simplify]: Simplify (+ 0 0) into 0 42.124 * [backup-simplify]: Simplify (+ 0) into 0 42.125 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.125 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.126 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.126 * [backup-simplify]: Simplify (+ 0 0) into 0 42.127 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 42.127 * [backup-simplify]: Simplify (+ 0) into 0 42.128 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.128 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.129 * [backup-simplify]: Simplify (+ 0 0) into 0 42.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 42.130 * [backup-simplify]: Simplify (+ 0) into 0 42.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.131 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.133 * [backup-simplify]: Simplify (- 0) into 0 42.133 * [backup-simplify]: Simplify (+ 0 0) into 0 42.133 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 42.134 * [backup-simplify]: Simplify (+ 0) into 0 42.134 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.135 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.135 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.136 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.136 * [backup-simplify]: Simplify (+ 0 0) into 0 42.137 * [backup-simplify]: Simplify (+ 0) into 0 42.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.138 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.139 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.140 * [backup-simplify]: Simplify (- 0) into 0 42.140 * [backup-simplify]: Simplify (+ 0 0) into 0 42.140 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 42.141 * [backup-simplify]: Simplify (+ 0) into 0 42.141 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.141 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.143 * [backup-simplify]: Simplify (- 0) into 0 42.143 * [backup-simplify]: Simplify (+ 0 0) into 0 42.144 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 42.144 * [backup-simplify]: Simplify (+ 0) into 0 42.145 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.145 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.146 * [backup-simplify]: Simplify (+ 0 0) into 0 42.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 42.147 * [backup-simplify]: Simplify (+ 0 0) into 0 42.148 * [backup-simplify]: Simplify (- 0) into 0 42.148 * [backup-simplify]: Simplify (+ 0 0) into 0 42.153 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 42.155 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 42.155 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) R) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in R 42.155 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) R) in R 42.155 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in R 42.155 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.155 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.155 * [taylor]: Taking taylor expansion of -0.5 in R 42.155 * [backup-simplify]: Simplify -0.5 into -0.5 42.155 * [taylor]: Taking taylor expansion of phi1 in R 42.155 * [backup-simplify]: Simplify phi1 into phi1 42.156 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.156 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.156 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.156 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in R 42.156 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.156 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.156 * [taylor]: Taking taylor expansion of -0.5 in R 42.156 * [backup-simplify]: Simplify -0.5 into -0.5 42.156 * [taylor]: Taking taylor expansion of phi2 in R 42.156 * [backup-simplify]: Simplify phi2 into phi2 42.156 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.156 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.156 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.156 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in R 42.156 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.156 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.156 * [taylor]: Taking taylor expansion of -0.5 in R 42.156 * [backup-simplify]: Simplify -0.5 into -0.5 42.156 * [taylor]: Taking taylor expansion of phi1 in R 42.156 * [backup-simplify]: Simplify phi1 into phi1 42.157 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.157 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.157 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.157 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.157 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.157 * [taylor]: Taking taylor expansion of -0.5 in R 42.157 * [backup-simplify]: Simplify -0.5 into -0.5 42.157 * [taylor]: Taking taylor expansion of phi2 in R 42.157 * [backup-simplify]: Simplify phi2 into phi2 42.157 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.157 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.157 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.157 * [taylor]: Taking taylor expansion of R in R 42.157 * [backup-simplify]: Simplify 0 into 0 42.157 * [backup-simplify]: Simplify 1 into 1 42.157 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.158 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.158 * [backup-simplify]: Simplify (- 0) into 0 42.158 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.158 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.159 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.159 * [backup-simplify]: Simplify (- 0) into 0 42.159 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.159 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.159 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.159 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.160 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.160 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.160 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.160 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) 42.160 * [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)))) 42.161 * [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))))) 42.161 * [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))))) 42.161 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in R 42.161 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in R 42.161 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in R 42.161 * [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 R 42.161 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in R 42.161 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in R 42.161 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.161 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.161 * [taylor]: Taking taylor expansion of -0.5 in R 42.162 * [backup-simplify]: Simplify -0.5 into -0.5 42.162 * [taylor]: Taking taylor expansion of phi2 in R 42.162 * [backup-simplify]: Simplify phi2 into phi2 42.162 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.162 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.162 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.162 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.162 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.163 * [backup-simplify]: Simplify (- 0) into 0 42.163 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.163 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in R 42.163 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.163 * [taylor]: Taking taylor expansion of -0.5 in R 42.163 * [backup-simplify]: Simplify -0.5 into -0.5 42.163 * [taylor]: Taking taylor expansion of phi1 in R 42.163 * [backup-simplify]: Simplify phi1 into phi1 42.163 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.163 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.163 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.163 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.164 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.164 * [backup-simplify]: Simplify (- 0) into 0 42.164 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.164 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in R 42.164 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in R 42.164 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.164 * [taylor]: Taking taylor expansion of -0.5 in R 42.164 * [backup-simplify]: Simplify -0.5 into -0.5 42.164 * [taylor]: Taking taylor expansion of phi2 in R 42.164 * [backup-simplify]: Simplify phi2 into phi2 42.164 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.165 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.165 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.165 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.165 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.165 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.165 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in R 42.165 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.165 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.165 * [taylor]: Taking taylor expansion of -0.5 in R 42.165 * [backup-simplify]: Simplify -0.5 into -0.5 42.165 * [taylor]: Taking taylor expansion of phi1 in R 42.165 * [backup-simplify]: Simplify phi1 into phi1 42.165 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.165 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.165 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.166 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.166 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.166 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.166 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in R 42.166 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in R 42.166 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.166 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.166 * [taylor]: Taking taylor expansion of -0.5 in R 42.166 * [backup-simplify]: Simplify -0.5 into -0.5 42.166 * [taylor]: Taking taylor expansion of phi2 in R 42.166 * [backup-simplify]: Simplify phi2 into phi2 42.166 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.166 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.166 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.166 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in R 42.166 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.167 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.167 * [taylor]: Taking taylor expansion of -0.5 in R 42.167 * [backup-simplify]: Simplify -0.5 into -0.5 42.167 * [taylor]: Taking taylor expansion of phi2 in R 42.167 * [backup-simplify]: Simplify phi2 into phi2 42.167 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.167 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.167 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.167 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in R 42.167 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.167 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.167 * [taylor]: Taking taylor expansion of -0.5 in R 42.167 * [backup-simplify]: Simplify -0.5 into -0.5 42.167 * [taylor]: Taking taylor expansion of phi1 in R 42.167 * [backup-simplify]: Simplify phi1 into phi1 42.167 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.167 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.167 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.167 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.167 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.168 * [taylor]: Taking taylor expansion of -0.5 in R 42.168 * [backup-simplify]: Simplify -0.5 into -0.5 42.168 * [taylor]: Taking taylor expansion of phi1 in R 42.168 * [backup-simplify]: Simplify phi1 into phi1 42.168 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.168 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.168 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.168 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in R 42.168 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in R 42.168 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.168 * [taylor]: Taking taylor expansion of -0.5 in R 42.168 * [backup-simplify]: Simplify -0.5 into -0.5 42.168 * [taylor]: Taking taylor expansion of phi2 in R 42.168 * [backup-simplify]: Simplify phi2 into phi2 42.168 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.168 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.168 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.168 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in R 42.168 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in R 42.168 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in R 42.168 * [taylor]: Taking taylor expansion of -0.5 in R 42.168 * [backup-simplify]: Simplify -0.5 into -0.5 42.169 * [taylor]: Taking taylor expansion of phi2 in R 42.169 * [backup-simplify]: Simplify phi2 into phi2 42.169 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 42.169 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 42.169 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 42.169 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in R 42.169 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in R 42.169 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.169 * [taylor]: Taking taylor expansion of -0.5 in R 42.169 * [backup-simplify]: Simplify -0.5 into -0.5 42.169 * [taylor]: Taking taylor expansion of phi1 in R 42.169 * [backup-simplify]: Simplify phi1 into phi1 42.169 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.169 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.169 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.169 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in R 42.169 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in R 42.169 * [taylor]: Taking taylor expansion of -0.5 in R 42.169 * [backup-simplify]: Simplify -0.5 into -0.5 42.169 * [taylor]: Taking taylor expansion of phi1 in R 42.169 * [backup-simplify]: Simplify phi1 into phi1 42.169 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 42.169 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 42.170 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 42.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 42.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 42.170 * [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)) 42.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 42.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 42.171 * [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)) 42.172 * [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))) 42.172 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.172 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.172 * [backup-simplify]: Simplify (- 0) into 0 42.172 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.173 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.173 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.173 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.173 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.173 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.173 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.173 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.173 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.174 * [backup-simplify]: Simplify (- 0) into 0 42.174 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.174 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) 42.174 * [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)))) 42.174 * [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))))) 42.175 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 42.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 42.175 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 42.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 42.175 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 42.176 * [backup-simplify]: Simplify (- 0) into 0 42.176 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 42.176 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 42.176 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 42.176 * [backup-simplify]: Simplify (- 0) into 0 42.176 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 42.177 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 42.177 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 42.177 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 42.177 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) 42.177 * [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)))) 42.178 * [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))))) 42.178 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) 42.179 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 42.182 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 42.184 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) 42.186 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 42.187 * [backup-simplify]: Simplify (+ 0) into 0 42.187 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.188 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.189 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.190 * [backup-simplify]: Simplify (- 0) into 0 42.190 * [backup-simplify]: Simplify (+ 0 0) into 0 42.190 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 42.191 * [backup-simplify]: Simplify (+ 0) into 0 42.191 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.191 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.192 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.193 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.193 * [backup-simplify]: Simplify (- 0) into 0 42.198 * [backup-simplify]: Simplify (+ 0 0) into 0 42.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 42.199 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 42.199 * [backup-simplify]: Simplify (+ 0) into 0 42.200 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.200 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.201 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.202 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.202 * [backup-simplify]: Simplify (+ 0 0) into 0 42.202 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 42.203 * [backup-simplify]: Simplify (+ 0) into 0 42.203 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.203 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.204 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.205 * [backup-simplify]: Simplify (+ 0 0) into 0 42.205 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 42.206 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 42.206 * [backup-simplify]: Simplify (+ 0 0) into 0 42.206 * [backup-simplify]: Simplify (+ 0) into 0 42.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.209 * [backup-simplify]: Simplify (- 0) into 0 42.209 * [backup-simplify]: Simplify (+ 0 0) into 0 42.210 * [backup-simplify]: Simplify (+ 0) into 0 42.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.210 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.212 * [backup-simplify]: Simplify (+ 0 0) into 0 42.212 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 42.213 * [backup-simplify]: Simplify (+ 0) into 0 42.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.214 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.214 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.215 * [backup-simplify]: Simplify (+ 0 0) into 0 42.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0 42.216 * [backup-simplify]: Simplify (+ 0) into 0 42.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.217 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.218 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.219 * [backup-simplify]: Simplify (- 0) into 0 42.220 * [backup-simplify]: Simplify (+ 0 0) into 0 42.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 42.221 * [backup-simplify]: Simplify (+ 0) into 0 42.221 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.221 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.224 * [backup-simplify]: Simplify (+ 0 0) into 0 42.224 * [backup-simplify]: Simplify (+ 0) into 0 42.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 42.225 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 42.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.226 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 42.227 * [backup-simplify]: Simplify (- 0) into 0 42.227 * [backup-simplify]: Simplify (+ 0 0) into 0 42.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 42.228 * [backup-simplify]: Simplify (+ 0) into 0 42.228 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.229 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.230 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.230 * [backup-simplify]: Simplify (- 0) into 0 42.231 * [backup-simplify]: Simplify (+ 0 0) into 0 42.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0 42.231 * [backup-simplify]: Simplify (+ 0) into 0 42.232 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 42.232 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 42.233 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 42.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 42.234 * [backup-simplify]: Simplify (+ 0 0) into 0 42.234 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 42.235 * [backup-simplify]: Simplify (+ 0 0) into 0 42.235 * [backup-simplify]: Simplify (- 0) into 0 42.235 * [backup-simplify]: Simplify (+ 0 0) into 0 42.238 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 42.239 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0 42.240 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 42.242 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) into (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) 42.244 * [backup-simplify]: Simplify (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) 42.246 * [backup-simplify]: Simplify (* (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) 42.247 * [backup-simplify]: Simplify (* (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) 42.250 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 42.253 * [backup-simplify]: Simplify (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) 42.260 * [backup-simplify]: Simplify (+ (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) into (- (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))))) 42.267 * [backup-simplify]: Simplify (- (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))))) 42.315 * [backup-simplify]: Simplify (+ (* (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))))))) (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))))))) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2)))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (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 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi2)))))))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))))))))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi2)))))))))) (* (/ 1 (/ 1 (- R))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (* 1 (/ 1 (- lambda1))))))) (* (- (+ (* (/ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1)))))))))))) (* (/ (* (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)) (* (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))))))) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi2))))))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi2))))))))))) (/ (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))))))))))) (* (/ 1 (/ 1 (- R))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2)))))))) into (- (+ (* (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) R))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (+ (* (/ (* phi2 (* R phi1)) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 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(sin (* 0.5 phi1)) 2))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi1))))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))))))) (* 2 (* (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* phi2 (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* lambda2 phi1))))))) (* (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi1))))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))))))) 42.316 * * * [progress]: simplifying candidates 42.320 * [simplify]: Simplifying: (expm1 (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (log1p (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- (cos (- (* phi2 0.5) (* phi1 0.5))) (cos (+ (* phi2 0.5) (* phi1 0.5)))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (+ (log (sin (* phi2 0.5))) (log (sin (* phi1 0.5)))) (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (exp (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (* (* (sin (* phi2 0.5)) (sin (* phi2 0.5))) (sin (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (sin (* phi1 0.5)))) (* (cbrt (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (cbrt (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (cbrt (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (sqrt (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (sqrt (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (sqrt (sin (* phi2 0.5))) (sqrt (sin (* phi1 0.5)))) (* (sqrt (sin (* phi2 0.5))) (sqrt (sin (* phi1 0.5)))) (* (sin (* phi2 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(cbrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (cbrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R))) (cbrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (* (* (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (sqrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- 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(sin (* 0.5 phi1)) 2))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi1))))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))))))) (* 2 (* (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* phi2 (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* lambda2 phi1))))))) (* (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi1))))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi2))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))))))) 42.334 * * [simplify]: Extracting # 0 : cost 0 42.334 * * [simplify]: Extracting # 1 : cost 0 42.335 * * [simplify]: Extracting # 2 : cost 0 42.335 * * [simplify]: Extracting # 3 : cost 0 42.336 * * [simplify]: Extracting # 4 : cost 0 42.337 * * [simplify]: Extracting # 5 : cost 0 42.337 * * [simplify]: Extracting # 6 : cost 0 42.344 * * [simplify]: Extracting # 7 : cost 0 42.346 * * [simplify]: Extracting # 8 : cost 0 42.347 * * [simplify]: Extracting # 9 : cost 0 42.348 * * [simplify]: Extracting # 10 : cost 0 42.349 * * [simplify]: Extracting # 11 : cost 0 42.350 * * [simplify]: Extracting # 12 : cost 0 42.351 * * [simplify]: Extracting # 13 : cost 0 42.352 * * [simplify]: Extracting # 14 : cost 0 42.353 * * [simplify]: Extracting # 15 : cost 0 42.354 * * [simplify]: Extracting # 16 : cost 0 42.355 * * [simplify]: Extracting # 17 : cost 0 42.356 * * [simplify]: Extracting # 18 : cost 0 42.357 * * [simplify]: Extracting # 19 : cost 0 42.358 * * [simplify]: iteration 0 : 353 enodes (cost 4639 ) 42.527 * * [simplify]: Extracting # 0 : cost 0 42.530 * * [simplify]: Extracting # 1 : cost 0 42.533 * * [simplify]: Extracting # 2 : cost 0 42.535 * * [simplify]: Extracting # 3 : cost 0 42.537 * * [simplify]: Extracting # 4 : cost 0 42.540 * * [simplify]: Extracting # 5 : cost 0 42.542 * * [simplify]: Extracting # 6 : cost 0 42.544 * * [simplify]: Extracting # 7 : cost 0 42.545 * * [simplify]: iteration 1 : 957 enodes (cost 4328 ) 43.220 * * [simplify]: Extracting # 0 : cost 0 43.226 * * [simplify]: Extracting # 1 : cost 0 43.231 * * [simplify]: Extracting # 2 : cost 0 43.239 * * [simplify]: Extracting # 3 : cost 0 43.249 * * [simplify]: Extracting # 4 : cost 0 43.263 * * [simplify]: Extracting # 5 : cost 0 43.273 * * [simplify]: Extracting # 6 : cost 0 43.281 * * [simplify]: Extracting # 7 : cost 0 43.286 * * [simplify]: Extracting # 8 : cost 0 43.291 * * [simplify]: iteration 2 : 3856 enodes (cost 3884 ) 44.696 * * [simplify]: Extracting # 0 : cost 0 44.709 * * [simplify]: Extracting # 1 : cost 0 44.716 * * [simplify]: Extracting # 2 : cost 0 44.723 * * [simplify]: Extracting # 3 : cost 0 44.730 * * [simplify]: iteration done: 5000 enodes (cost 3878 ) 44.731 * [simplify]: Simplified to: (expm1 (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (log1p (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (exp (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3) (* (cbrt (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (cbrt (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (cbrt (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3) (sqrt (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (sqrt (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (sqrt (sin (* phi2 0.5))) (sqrt (sin (* phi1 0.5)))) (* (sqrt (sin (* phi2 0.5))) (sqrt (sin (* phi1 0.5)))) (* (sin (* phi2 0.5)) (* (cbrt (sin (* phi1 0.5))) (cbrt 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phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) 3) (* (cbrt (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))) (cbrt (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))))) (cbrt (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))) (pow (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) 3) (sqrt (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))) (sqrt (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))) (* (- (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))))) (- (pow lambda1 3) (pow lambda2 3))) (* 2 (fma lambda1 lambda1 (* lambda2 (+ lambda1 lambda2)))) (* (- (pow lambda1 3) (pow lambda2 3)) (* 2 (- (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))))))) (* 4 (fma lambda1 lambda1 (* lambda2 (+ lambda1 lambda2)))) (* (- (pow lambda1 3) (pow lambda2 3)) (- (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3))) (* (fma lambda1 lambda1 (* lambda2 (+ lambda1 lambda2))) (fma (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2) (* (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (fma (cos (* phi2 0.5)) (cos (* phi1 0.5)) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))))) (* (- (pow lambda1 3) (pow lambda2 3)) (- (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* (fma lambda1 lambda1 (* lambda2 (+ lambda1 lambda2))) (fma (cos (* phi2 0.5)) (cos (* phi1 0.5)) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (- (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))))) (- (* lambda1 lambda1) (* lambda2 lambda2))) (* (+ lambda1 lambda2) 2) (* (* 2 (- (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))))) (- (* lambda1 lambda1) (* lambda2 lambda2))) (* 4 (+ lambda1 lambda2)) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (- (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3))) (* (fma (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2) (* (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (fma (cos (* phi2 0.5)) (cos (* phi1 0.5)) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))) (+ lambda1 lambda2)) (* (- (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (- (* lambda1 lambda1) (* lambda2 lambda2))) (* (fma (cos (* phi2 0.5)) (cos (* phi1 0.5)) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (+ lambda1 lambda2)) (* (sqrt (- lambda1 lambda2)) (sqrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))) (* (sqrt (- lambda1 lambda2)) (sqrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))) (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (- lambda1 lambda2) (* (sin (* 0.5 phi2)) (+ (- (sin (* phi1 0.5))) (sin (* 0.5 phi1))))) (* (- lambda1 lambda2) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (- (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- lambda1 lambda2)) (* (- lambda1 lambda2) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (- (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- lambda1 lambda2)) (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (- lambda1 lambda2) (* (sin (* 0.5 phi2)) (+ (- (sin (* phi1 0.5))) (sin (* 0.5 phi1))))) (* (- lambda1 lambda2) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (- (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- lambda1 lambda2)) (* (- lambda1 lambda2) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (- (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- lambda1 lambda2)) (* (- lambda1 lambda2) (* (cbrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (cbrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))))) (* (- lambda1 lambda2) (sqrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))) (- lambda1 lambda2) (* (cbrt (- lambda1 lambda2)) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (sqrt (- lambda1 lambda2)) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (- (sqrt lambda1) (sqrt lambda2)) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (- lambda1 lambda2) (- (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))))) (* (* 2 (- (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))))) (- lambda1 lambda2)) (* (- lambda1 lambda2) (- (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3))) (* (- lambda1 lambda2) (- (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)))) (* (- (pow lambda1 3) (pow lambda2 3)) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (fma (cos (* phi2 0.5)) (cos (* phi1 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (* (sin (* 0.5 phi2)) (+ (- (sin (* phi1 0.5))) (sin (* 0.5 phi1)))) (expm1 (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (log1p (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (exp (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (log (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (exp (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (cbrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (cbrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))) (cbrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (pow (fma (cos (* phi2 0.5)) (cos (* phi1 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) 3) (sqrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (sqrt (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))))) (* 2 (- (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))))) 4 (- (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (fma (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2) (* (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (fma (cos (* phi2 0.5)) (cos (* phi1 0.5)) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (- (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (fma (cos (* phi2 0.5)) (cos (* phi1 0.5)) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5)))) (expm1 (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (log1p (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R) (log (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (log (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (exp (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (pow (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R) 3) (* (cbrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (cbrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R))) (cbrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (pow (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R) 3) (sqrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (sqrt (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R)) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2))) (sqrt R)) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2))) (sqrt R)) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) (* (cbrt R) (cbrt R))) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) (sqrt R)) (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) (* (cbrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2))) R) (* (sqrt (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2))) R) (* (hypot (* (- lambda1 lambda2) (- (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (- phi1 phi2)) R) (* 0.25 (* phi2 phi1)) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (sin (* 0.5 phi2))) (- lambda1 lambda2) (- (fma (cos (* phi2 0.5)) (* (cos (* 0.5 phi1)) lambda1) (* (sin (* 0.5 phi2)) (* lambda2 (sin (* 0.5 phi1))))) (fma (cos (* phi1 0.5)) (* lambda2 (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) lambda1)))) (- (fma (cos (* phi2 0.5)) (* (cos (* 0.5 phi1)) lambda1) (* (sin (* 0.5 phi2)) (* lambda2 (sin (* 0.5 phi1))))) (fma (cos (* phi1 0.5)) (* lambda2 (cos (* 0.5 phi2))) (* (sin (* 0.5 phi1)) (* (sin (* 0.5 phi2)) lambda1)))) (- 1 (fma 0.25 (* phi2 phi1) (* 0.125 (pow phi2 2)))) (fma (cos (* phi2 0.5)) (cos (* phi1 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) (fma (cos (* phi2 0.5)) (cos (* phi1 0.5)) (- (* (sin (* phi1 0.5)) (sin (* phi2 0.5))))) 0 (- (* (fma (sqrt (/ 1 (fma (pow (sin (* 0.5 phi1)) 2) (pow (sin (* phi2 0.5)) 2) (fma (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2) (* (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) -2))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda2))))) (* (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* phi2 (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* lambda2 phi1))))))) (pow lambda1 2)) (sqrt (/ 1 (pow (fma (pow (sin (* 0.5 phi1)) 2) (pow (sin (* phi2 0.5)) 2) (fma (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2) (* (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) -2))) 3))))) 2) (fma (/ (* phi2 (* (pow (sin (* 0.5 phi2)) 2) (* R (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 phi1))))) (pow lambda1 2)) (sqrt (/ 1 (pow (fma (pow (sin (* 0.5 phi1)) 2) (pow (sin (* phi2 0.5)) 2) (fma (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2) (* (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) -2))) 3))) (fma (* (sqrt (/ 1 (fma (pow (sin (* 0.5 phi1)) 2) (pow (sin (* phi2 0.5)) 2) (fma (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2) (* (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) -2))))) (* lambda2 (pow (sin (* phi2 0.5)) 2))) (* (pow (sin (* 0.5 phi1)) 2) R) (fma (sqrt (/ 1 (fma (pow (sin (* 0.5 phi1)) 2) (pow (sin (* phi2 0.5)) 2) (fma (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2) (* (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) -2))))) (fma (pow (cos (* 0.5 phi2)) 2) (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) R)) (/ (* phi2 (* R phi1)) lambda1)) (/ (* (sqrt (/ 1 (pow (fma (pow (sin (* 0.5 phi1)) 2) (pow (sin (* phi2 0.5)) 2) (fma (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2) (* (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) -2))) 3))) (* phi2 (* (pow (cos (* 0.5 phi1)) 2) (* phi1 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 R)))))) (* lambda1 lambda1)))))) (fma -2 (fma (sqrt (/ 1 (- (fma (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (fma (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi1)))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) lambda2))))) (* (sqrt (/ 1 (fma (pow (sin (* 0.5 phi1)) 2) (pow (sin (* phi2 0.5)) 2) (fma (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2) (* (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) -2))))) (* (/ (cos (* 0.5 phi1)) (- (fma (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (fma (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi1)))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) (/ (* (sin (* 0.5 phi2)) (* phi2 (* R (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* lambda2 phi1)))))) (* lambda1 lambda1))))) (fma (sqrt (/ 1 (fma (pow (sin (* 0.5 phi1)) 2) (pow (sin (* phi2 0.5)) 2) (fma (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2) (* (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) -2))))) (fma (pow (cos (* 0.5 phi2)) 2) (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) R)) (/ (* phi2 (* R phi1)) lambda1)) (* (sqrt (/ 1 (fma (pow (sin (* 0.5 phi1)) 2) (pow (sin (* phi2 0.5)) 2) (fma (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2) (* (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) -2))))) (fma (* lambda2 (pow (sin (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) R) (fma (/ phi2 (- (fma (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (fma (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi1)))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) (/ (* (pow (sin (* 0.5 phi2)) 2) (* phi1 (* (pow (sin (* 0.5 phi1)) 2) (* lambda2 R)))) (* lambda1 lambda1)) (* (/ phi2 (- (fma (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2))) (fma (cos (* phi1 0.5)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi1)))) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) (/ (* (pow (cos (* 0.5 phi1)) 2) (* phi1 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 R)))) (* lambda1 lambda1)))))))) 44.732 * * * [progress]: adding candidates to table 45.608 * * [progress]: iteration 4 / 4 45.608 * * * [progress]: picking best candidate 45.687 * * * * [pick]: Picked # 45.687 * * * [progress]: localizing error 45.776 * * * [progress]: generating rewritten candidates 45.776 * * * * [progress]: [ 1 / 4 ] rewriting at (2 1 1 1 2 1) 45.794 * * * * [progress]: [ 2 / 4 ] rewriting at (2 1 1 2 1) 45.949 * * * * [progress]: [ 3 / 4 ] rewriting at (2 1 1 1 2 2) 45.986 * * * * [progress]: [ 4 / 4 ] rewriting at (2 1 1 2 2 1) 46.155 * * * [progress]: generating series expansions 46.155 * * * * [progress]: [ 1 / 4 ] generating series at (2 1 1 1 2 1) 46.155 * [backup-simplify]: Simplify (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3) into (pow (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 3) 46.155 * [approximate]: Taking taylor expansion of (pow (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 3) in (phi2 phi1) around 0 46.155 * [taylor]: Taking taylor expansion of (pow (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 3) in phi1 46.155 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi1 46.156 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 46.156 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 46.156 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.156 * [backup-simplify]: Simplify 0.5 into 0.5 46.156 * [taylor]: Taking taylor expansion of phi2 in phi1 46.156 * [backup-simplify]: Simplify phi2 into phi2 46.156 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 46.156 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 46.156 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 46.156 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 46.156 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.156 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.156 * [backup-simplify]: Simplify 0.5 into 0.5 46.156 * [taylor]: Taking taylor expansion of phi1 in phi1 46.156 * [backup-simplify]: Simplify 0 into 0 46.156 * [backup-simplify]: Simplify 1 into 1 46.157 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.158 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.158 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 46.158 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 46.159 * [backup-simplify]: Simplify (- 0) into 0 46.159 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 46.159 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 46.159 * [taylor]: Taking taylor expansion of (pow (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 3) in phi2 46.159 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi2 46.159 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 46.159 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 46.159 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.159 * [backup-simplify]: Simplify 0.5 into 0.5 46.159 * [taylor]: Taking taylor expansion of phi2 in phi2 46.159 * [backup-simplify]: Simplify 0 into 0 46.159 * [backup-simplify]: Simplify 1 into 1 46.160 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.161 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.161 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 46.161 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 46.161 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.161 * [backup-simplify]: Simplify 0.5 into 0.5 46.161 * [taylor]: Taking taylor expansion of phi1 in phi2 46.161 * [backup-simplify]: Simplify phi1 into phi1 46.161 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 46.161 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 46.161 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 46.161 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 46.161 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 46.162 * [backup-simplify]: Simplify (- 0) into 0 46.162 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 46.162 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi1))) into (cos (* 0.5 phi1)) 46.162 * [taylor]: Taking taylor expansion of (pow (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) 3) in phi2 46.162 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) in phi2 46.162 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 46.162 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 46.162 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.162 * [backup-simplify]: Simplify 0.5 into 0.5 46.162 * [taylor]: Taking taylor expansion of phi2 in phi2 46.162 * [backup-simplify]: Simplify 0 into 0 46.162 * [backup-simplify]: Simplify 1 into 1 46.163 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.164 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.164 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 46.164 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 46.164 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.164 * [backup-simplify]: Simplify 0.5 into 0.5 46.164 * [taylor]: Taking taylor expansion of phi1 in phi2 46.164 * [backup-simplify]: Simplify phi1 into phi1 46.164 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 46.164 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 46.164 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 46.164 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 46.164 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 46.165 * [backup-simplify]: Simplify (- 0) into 0 46.165 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 46.165 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 phi1))) into (cos (* 0.5 phi1)) 46.165 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 46.166 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 3) 46.166 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 3) in phi1 46.166 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 46.166 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.166 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.166 * [backup-simplify]: Simplify 0.5 into 0.5 46.166 * [taylor]: Taking taylor expansion of phi1 in phi1 46.166 * [backup-simplify]: Simplify 0 into 0 46.166 * [backup-simplify]: Simplify 1 into 1 46.166 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.167 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.168 * [backup-simplify]: Simplify (* 1 1) into 1 46.168 * [backup-simplify]: Simplify (* 1 1) into 1 46.168 * [backup-simplify]: Simplify 1 into 1 46.169 * [backup-simplify]: Simplify (+ 0) into 0 46.169 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 46.169 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 46.170 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.171 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 46.171 * [backup-simplify]: Simplify (- 0) into 0 46.171 * [backup-simplify]: Simplify (+ 0 0) into 0 46.172 * [backup-simplify]: Simplify (+ 0) into 0 46.172 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 phi1)))) into 0 46.172 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 46.173 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (pow (cos (* 0.5 phi1)) 2))) into 0 46.173 * [taylor]: Taking taylor expansion of 0 in phi1 46.173 * [backup-simplify]: Simplify 0 into 0 46.173 * [backup-simplify]: Simplify 0 into 0 46.173 * [backup-simplify]: Simplify (+ 0) into 0 46.174 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 46.174 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 46.174 * [backup-simplify]: Simplify 0 into 0 46.175 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.176 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.177 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 46.177 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.178 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.178 * [backup-simplify]: Simplify (- 0) into 0 46.179 * [backup-simplify]: Simplify (+ 0 0) into 0 46.182 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 46.183 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.125) (cos (* 0.5 phi1))))) into (- (* 0.125 (cos (* 0.5 phi1)))) 46.184 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* 0 0) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (cos (* 0.5 phi1)) 2))) 46.185 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.25 (pow (cos (* 0.5 phi1)) 2)))) (+ (* 0 0) (* (- (* 0.125 (cos (* 0.5 phi1)))) (pow (cos (* 0.5 phi1)) 2)))) into (- (* 0.375 (pow (cos (* 0.5 phi1)) 3))) 46.185 * [taylor]: Taking taylor expansion of (- (* 0.375 (pow (cos (* 0.5 phi1)) 3))) in phi1 46.185 * [taylor]: Taking taylor expansion of (* 0.375 (pow (cos (* 0.5 phi1)) 3)) in phi1 46.185 * [taylor]: Taking taylor expansion of 0.375 in phi1 46.185 * [backup-simplify]: Simplify 0.375 into 0.375 46.185 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 3) in phi1 46.185 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 46.185 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.185 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.185 * [backup-simplify]: Simplify 0.5 into 0.5 46.185 * [taylor]: Taking taylor expansion of phi1 in phi1 46.185 * [backup-simplify]: Simplify 0 into 0 46.185 * [backup-simplify]: Simplify 1 into 1 46.186 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.187 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.187 * [backup-simplify]: Simplify (* 1 1) into 1 46.188 * [backup-simplify]: Simplify (* 1 1) into 1 46.188 * [backup-simplify]: Simplify (* 0.375 1) into 0.375 46.188 * [backup-simplify]: Simplify (- 0.375) into (- 0.375) 46.189 * [backup-simplify]: Simplify (- 0.375) into (- 0.375) 46.189 * [backup-simplify]: Simplify 0 into 0 46.191 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 46.195 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 46.199 * [backup-simplify]: Simplify (+ (* 1 (- 0.25)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.375) 46.200 * [backup-simplify]: Simplify (- 0.375) into (- 0.375) 46.201 * [backup-simplify]: Simplify (+ (* (- 0.375) (pow (* phi1 1) 2)) (+ (* (- 0.375) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.375 (pow phi2 2)) (* 0.375 (pow phi1 2)))) 46.202 * [backup-simplify]: Simplify (pow (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) 3) into (pow (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 3) 46.202 * [approximate]: Taking taylor expansion of (pow (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 3) in (phi2 phi1) around 0 46.202 * [taylor]: Taking taylor expansion of (pow (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 3) in phi1 46.202 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi1 46.202 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 46.202 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 46.202 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.202 * [backup-simplify]: Simplify 0.5 into 0.5 46.202 * [taylor]: Taking taylor expansion of phi1 in phi1 46.202 * [backup-simplify]: Simplify 0 into 0 46.202 * [backup-simplify]: Simplify 1 into 1 46.202 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.202 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.203 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 46.203 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 46.203 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.203 * [backup-simplify]: Simplify 0.5 into 0.5 46.203 * [taylor]: Taking taylor expansion of phi2 in phi1 46.203 * [backup-simplify]: Simplify phi2 into phi2 46.203 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 46.203 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.203 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.203 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 46.203 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 46.204 * [backup-simplify]: Simplify (- 0) into 0 46.204 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 46.204 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 46.204 * [taylor]: Taking taylor expansion of (pow (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 3) in phi2 46.204 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2 46.204 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 46.204 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 46.204 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.204 * [backup-simplify]: Simplify 0.5 into 0.5 46.204 * [taylor]: Taking taylor expansion of phi1 in phi2 46.204 * [backup-simplify]: Simplify phi1 into phi1 46.204 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 46.205 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.205 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.205 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 46.205 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 46.205 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.205 * [backup-simplify]: Simplify 0.5 into 0.5 46.205 * [taylor]: Taking taylor expansion of phi2 in phi2 46.205 * [backup-simplify]: Simplify 0 into 0 46.205 * [backup-simplify]: Simplify 1 into 1 46.214 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.215 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.215 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 46.215 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 46.216 * [backup-simplify]: Simplify (- 0) into 0 46.216 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 46.216 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 46.216 * [taylor]: Taking taylor expansion of (pow (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 3) in phi2 46.216 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) in phi2 46.216 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 46.216 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 46.216 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.216 * [backup-simplify]: Simplify 0.5 into 0.5 46.216 * [taylor]: Taking taylor expansion of phi1 in phi2 46.216 * [backup-simplify]: Simplify phi1 into phi1 46.216 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 46.216 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.217 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.217 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 46.217 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 46.217 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.217 * [backup-simplify]: Simplify 0.5 into 0.5 46.217 * [taylor]: Taking taylor expansion of phi2 in phi2 46.217 * [backup-simplify]: Simplify 0 into 0 46.217 * [backup-simplify]: Simplify 1 into 1 46.217 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.217 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.217 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 46.218 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 46.218 * [backup-simplify]: Simplify (- 0) into 0 46.218 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 46.218 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) into (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 46.219 * [backup-simplify]: Simplify (* (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 46.219 * [backup-simplify]: Simplify (* (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 3) (pow (cos (/ 0.5 phi2)) 3)) 46.219 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 3) (pow (cos (/ 0.5 phi2)) 3)) in phi1 46.219 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 3) in phi1 46.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 46.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 46.219 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.219 * [backup-simplify]: Simplify 0.5 into 0.5 46.219 * [taylor]: Taking taylor expansion of phi1 in phi1 46.220 * [backup-simplify]: Simplify 0 into 0 46.220 * [backup-simplify]: Simplify 1 into 1 46.220 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.220 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 3) in phi1 46.220 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 46.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 46.220 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.220 * [backup-simplify]: Simplify 0.5 into 0.5 46.220 * [taylor]: Taking taylor expansion of phi2 in phi1 46.220 * [backup-simplify]: Simplify phi2 into phi2 46.220 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 46.221 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.221 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 46.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 46.221 * [backup-simplify]: Simplify (- 0) into 0 46.221 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 46.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 46.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (pow (cos (/ 0.5 phi1)) 2)) into (pow (cos (/ 0.5 phi1)) 3) 46.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 46.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (pow (cos (/ 0.5 phi2)) 2)) into (pow (cos (/ 0.5 phi2)) 3) 46.223 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (pow (cos (/ 0.5 phi2)) 3)) into (* (pow (cos (/ 0.5 phi1)) 3) (pow (cos (/ 0.5 phi2)) 3)) 46.223 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 3) (pow (cos (/ 0.5 phi2)) 3)) into (* (pow (cos (/ 0.5 phi1)) 3) (pow (cos (/ 0.5 phi2)) 3)) 46.224 * [backup-simplify]: Simplify (+ 0) into 0 46.224 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 46.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 46.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.226 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 46.226 * [backup-simplify]: Simplify (- 0) into 0 46.226 * [backup-simplify]: Simplify (+ 0 0) into 0 46.227 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 46.227 * [backup-simplify]: Simplify (+ (* (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 0) (* 0 (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))))) into 0 46.228 * [backup-simplify]: Simplify (+ (* (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) into 0 46.228 * [taylor]: Taking taylor expansion of 0 in phi1 46.228 * [backup-simplify]: Simplify 0 into 0 46.228 * [backup-simplify]: Simplify 0 into 0 46.228 * [backup-simplify]: Simplify (+ 0) into 0 46.229 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 46.229 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 46.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 46.231 * [backup-simplify]: Simplify (- 0) into 0 46.231 * [backup-simplify]: Simplify (+ 0 0) into 0 46.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 46.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 46.232 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 46.232 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (pow (cos (/ 0.5 phi1)) 2))) into 0 46.232 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (* 0 (pow (cos (/ 0.5 phi2)) 3))) into 0 46.232 * [backup-simplify]: Simplify 0 into 0 46.233 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.234 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.234 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.235 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.236 * [backup-simplify]: Simplify (- 0) into 0 46.237 * [backup-simplify]: Simplify (+ 0 0) into 0 46.237 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 46.238 * [backup-simplify]: Simplify (+ (* (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2)))))) into 0 46.239 * [backup-simplify]: Simplify (+ (* (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))))) into 0 46.239 * [taylor]: Taking taylor expansion of 0 in phi1 46.239 * [backup-simplify]: Simplify 0 into 0 46.239 * [backup-simplify]: Simplify 0 into 0 46.239 * [backup-simplify]: Simplify 0 into 0 46.240 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.240 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 46.241 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 46.241 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 46.242 * [backup-simplify]: Simplify (- 0) into 0 46.243 * [backup-simplify]: Simplify (+ 0 0) into 0 46.243 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 46.244 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 46.245 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 46.245 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi1)) 2)))) into 0 46.246 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 3)))) into 0 46.246 * [backup-simplify]: Simplify 0 into 0 46.247 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 46.248 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 46.249 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.250 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 46.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 46.251 * [backup-simplify]: Simplify (- 0) into 0 46.252 * [backup-simplify]: Simplify (+ 0 0) into 0 46.253 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0 46.254 * [backup-simplify]: Simplify (+ (* (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))))))) into 0 46.255 * [backup-simplify]: Simplify (+ (* (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi2))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))))) into 0 46.255 * [taylor]: Taking taylor expansion of 0 in phi1 46.255 * [backup-simplify]: Simplify 0 into 0 46.255 * [backup-simplify]: Simplify 0 into 0 46.256 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 (/ 1 phi1))) 3) (pow (cos (/ 0.5 (/ 1 phi2))) 3)) into (* (pow (cos (* 0.5 phi1)) 3) (pow (cos (* 0.5 phi2)) 3)) 46.256 * [backup-simplify]: Simplify (pow (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) 3) into (pow (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 3) 46.256 * [approximate]: Taking taylor expansion of (pow (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 3) in (phi2 phi1) around 0 46.256 * [taylor]: Taking taylor expansion of (pow (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 3) in phi1 46.256 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1 46.256 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 46.256 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 46.256 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.256 * [backup-simplify]: Simplify -0.5 into -0.5 46.256 * [taylor]: Taking taylor expansion of phi2 in phi1 46.257 * [backup-simplify]: Simplify phi2 into phi2 46.257 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 46.257 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.257 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.257 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 46.257 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 46.257 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.257 * [backup-simplify]: Simplify -0.5 into -0.5 46.257 * [taylor]: Taking taylor expansion of phi1 in phi1 46.257 * [backup-simplify]: Simplify 0 into 0 46.257 * [backup-simplify]: Simplify 1 into 1 46.257 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.258 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.258 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 46.258 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 46.258 * [backup-simplify]: Simplify (- 0) into 0 46.258 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 46.259 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 46.259 * [taylor]: Taking taylor expansion of (pow (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 3) in phi2 46.259 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 46.259 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 46.259 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 46.259 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.259 * [backup-simplify]: Simplify -0.5 into -0.5 46.259 * [taylor]: Taking taylor expansion of phi2 in phi2 46.259 * [backup-simplify]: Simplify 0 into 0 46.259 * [backup-simplify]: Simplify 1 into 1 46.259 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.259 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.259 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 46.259 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 46.259 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.260 * [backup-simplify]: Simplify -0.5 into -0.5 46.260 * [taylor]: Taking taylor expansion of phi1 in phi2 46.260 * [backup-simplify]: Simplify phi1 into phi1 46.260 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 46.260 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.260 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.260 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 46.260 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 46.260 * [backup-simplify]: Simplify (- 0) into 0 46.261 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 46.261 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 46.261 * [taylor]: Taking taylor expansion of (pow (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 3) in phi2 46.261 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2 46.261 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 46.261 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 46.261 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.261 * [backup-simplify]: Simplify -0.5 into -0.5 46.261 * [taylor]: Taking taylor expansion of phi2 in phi2 46.261 * [backup-simplify]: Simplify 0 into 0 46.261 * [backup-simplify]: Simplify 1 into 1 46.261 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.262 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.262 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 46.262 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 46.262 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.262 * [backup-simplify]: Simplify -0.5 into -0.5 46.262 * [taylor]: Taking taylor expansion of phi1 in phi2 46.262 * [backup-simplify]: Simplify phi1 into phi1 46.262 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 46.262 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.262 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.262 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 46.262 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 46.263 * [backup-simplify]: Simplify (- 0) into 0 46.263 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 46.263 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 46.263 * [backup-simplify]: Simplify (* (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 46.264 * [backup-simplify]: Simplify (* (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) into (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) 46.264 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) in phi1 46.264 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 3) in phi1 46.264 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 46.264 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 46.264 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.264 * [backup-simplify]: Simplify -0.5 into -0.5 46.264 * [taylor]: Taking taylor expansion of phi2 in phi1 46.264 * [backup-simplify]: Simplify phi2 into phi2 46.264 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 46.264 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.264 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 46.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 46.265 * [backup-simplify]: Simplify (- 0) into 0 46.265 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 46.265 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 3) in phi1 46.265 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 46.265 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 46.265 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.265 * [backup-simplify]: Simplify -0.5 into -0.5 46.265 * [taylor]: Taking taylor expansion of phi1 in phi1 46.265 * [backup-simplify]: Simplify 0 into 0 46.265 * [backup-simplify]: Simplify 1 into 1 46.266 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.266 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.266 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 46.267 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (pow (cos (/ -0.5 phi2)) 2)) into (pow (cos (/ -0.5 phi2)) 3) 46.267 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 46.267 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (pow (cos (/ -0.5 phi1)) 2)) into (pow (cos (/ -0.5 phi1)) 3) 46.267 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) into (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) 46.268 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) into (* (pow (cos (/ -0.5 phi2)) 3) (pow (cos (/ -0.5 phi1)) 3)) 46.268 * [backup-simplify]: Simplify (+ 0) into 0 46.269 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 46.269 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 46.270 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.271 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 46.271 * [backup-simplify]: Simplify (- 0) into 0 46.271 * [backup-simplify]: Simplify (+ 0 0) into 0 46.272 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 46.272 * [backup-simplify]: Simplify (+ (* (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0 46.273 * [backup-simplify]: Simplify (+ (* (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))) into 0 46.273 * [taylor]: Taking taylor expansion of 0 in phi1 46.273 * [backup-simplify]: Simplify 0 into 0 46.273 * [backup-simplify]: Simplify 0 into 0 46.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 46.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 46.274 * [backup-simplify]: Simplify (+ 0) into 0 46.274 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 46.275 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 46.276 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.276 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 46.276 * [backup-simplify]: Simplify (- 0) into 0 46.277 * [backup-simplify]: Simplify (+ 0 0) into 0 46.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 46.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (pow (cos (/ -0.5 phi2)) 2))) into 0 46.278 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (* 0 (pow (cos (/ -0.5 phi1)) 3))) into 0 46.278 * [backup-simplify]: Simplify 0 into 0 46.279 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.280 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.280 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.281 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.282 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.282 * [backup-simplify]: Simplify (- 0) into 0 46.282 * [backup-simplify]: Simplify (+ 0 0) into 0 46.283 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 46.284 * [backup-simplify]: Simplify (+ (* (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0 46.285 * [backup-simplify]: Simplify (+ (* (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))))) into 0 46.285 * [taylor]: Taking taylor expansion of 0 in phi1 46.285 * [backup-simplify]: Simplify 0 into 0 46.285 * [backup-simplify]: Simplify 0 into 0 46.285 * [backup-simplify]: Simplify 0 into 0 46.286 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 46.287 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 46.288 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.289 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 46.289 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 46.290 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.290 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 46.291 * [backup-simplify]: Simplify (- 0) into 0 46.291 * [backup-simplify]: Simplify (+ 0 0) into 0 46.292 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 46.292 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi2)) 2)))) into 0 46.293 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 3)))) into 0 46.293 * [backup-simplify]: Simplify 0 into 0 46.294 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 46.295 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 46.296 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.297 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 46.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 46.298 * [backup-simplify]: Simplify (- 0) into 0 46.299 * [backup-simplify]: Simplify (+ 0 0) into 0 46.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0 46.301 * [backup-simplify]: Simplify (+ (* (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0 46.302 * [backup-simplify]: Simplify (+ (* (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)))))) into 0 46.302 * [taylor]: Taking taylor expansion of 0 in phi1 46.302 * [backup-simplify]: Simplify 0 into 0 46.302 * [backup-simplify]: Simplify 0 into 0 46.303 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 3) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 3)) into (* (pow (cos (* 0.5 phi2)) 3) (pow (cos (* 0.5 phi1)) 3)) 46.303 * * * * [progress]: [ 2 / 4 ] generating series at (2 1 1 2 1) 46.303 * [backup-simplify]: Simplify (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) into (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) 46.303 * [approximate]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) in (phi2 phi1) around 0 46.303 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) in phi1 46.303 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1 46.304 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1 46.304 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 46.304 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.304 * [backup-simplify]: Simplify 0.5 into 0.5 46.304 * [taylor]: Taking taylor expansion of phi2 in phi1 46.304 * [backup-simplify]: Simplify phi2 into phi2 46.304 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 46.304 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 46.304 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 46.304 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 46.305 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 46.305 * [backup-simplify]: Simplify (- 0) into 0 46.305 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 46.305 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 46.305 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 46.305 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.305 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.305 * [backup-simplify]: Simplify 0.5 into 0.5 46.305 * [taylor]: Taking taylor expansion of phi1 in phi1 46.305 * [backup-simplify]: Simplify 0 into 0 46.305 * [backup-simplify]: Simplify 1 into 1 46.306 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.307 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.307 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) in phi2 46.307 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 46.307 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 46.307 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 46.307 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.308 * [backup-simplify]: Simplify 0.5 into 0.5 46.308 * [taylor]: Taking taylor expansion of phi2 in phi2 46.308 * [backup-simplify]: Simplify 0 into 0 46.308 * [backup-simplify]: Simplify 1 into 1 46.308 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.309 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.309 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 46.309 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 46.310 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 46.310 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.310 * [backup-simplify]: Simplify 0.5 into 0.5 46.310 * [taylor]: Taking taylor expansion of phi1 in phi2 46.310 * [backup-simplify]: Simplify phi1 into phi1 46.310 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 46.310 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 46.310 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 46.310 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 46.310 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 46.311 * [backup-simplify]: Simplify (- 0) into 0 46.311 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 46.311 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) in phi2 46.311 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 46.311 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 46.311 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 46.311 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.311 * [backup-simplify]: Simplify 0.5 into 0.5 46.311 * [taylor]: Taking taylor expansion of phi2 in phi2 46.311 * [backup-simplify]: Simplify 0 into 0 46.311 * [backup-simplify]: Simplify 1 into 1 46.311 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.313 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.313 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2 46.313 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2 46.313 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 46.313 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.313 * [backup-simplify]: Simplify 0.5 into 0.5 46.313 * [taylor]: Taking taylor expansion of phi1 in phi2 46.313 * [backup-simplify]: Simplify phi1 into phi1 46.313 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 46.313 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 46.313 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 46.313 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 46.314 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 46.314 * [backup-simplify]: Simplify (- 0) into 0 46.314 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 46.315 * [backup-simplify]: Simplify (* 1 1) into 1 46.315 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 46.315 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 2) 46.315 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 46.315 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 46.315 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.315 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.315 * [backup-simplify]: Simplify 0.5 into 0.5 46.315 * [taylor]: Taking taylor expansion of phi1 in phi1 46.315 * [backup-simplify]: Simplify 0 into 0 46.315 * [backup-simplify]: Simplify 1 into 1 46.316 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.317 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.318 * [backup-simplify]: Simplify (* 1 1) into 1 46.318 * [backup-simplify]: Simplify 1 into 1 46.319 * [backup-simplify]: Simplify (+ 0) into 0 46.319 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 46.320 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 46.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.321 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0 46.322 * [backup-simplify]: Simplify (- 0) into 0 46.322 * [backup-simplify]: Simplify (+ 0 0) into 0 46.323 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0 46.323 * [backup-simplify]: Simplify (+ 0) into 0 46.324 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 46.324 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow (cos (* 0.5 phi1)) 2))) into 0 46.325 * [taylor]: Taking taylor expansion of 0 in phi1 46.325 * [backup-simplify]: Simplify 0 into 0 46.325 * [backup-simplify]: Simplify 0 into 0 46.325 * [backup-simplify]: Simplify (+ 0) into 0 46.326 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 46.326 * [backup-simplify]: Simplify 0 into 0 46.327 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.328 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.328 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 46.329 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.329 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.329 * [backup-simplify]: Simplify (- 0) into 0 46.330 * [backup-simplify]: Simplify (+ 0 0) into 0 46.330 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0 46.332 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 46.334 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 46.335 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow (cos (* 0.5 phi1)) 2)))) into (- (* 0.25 (pow (cos (* 0.5 phi1)) 2))) 46.335 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow (cos (* 0.5 phi1)) 2))) in phi1 46.335 * [taylor]: Taking taylor expansion of (* 0.25 (pow (cos (* 0.5 phi1)) 2)) in phi1 46.335 * [taylor]: Taking taylor expansion of 0.25 in phi1 46.335 * [backup-simplify]: Simplify 0.25 into 0.25 46.335 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1 46.335 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1 46.335 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.335 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.335 * [backup-simplify]: Simplify 0.5 into 0.5 46.335 * [taylor]: Taking taylor expansion of phi1 in phi1 46.335 * [backup-simplify]: Simplify 0 into 0 46.335 * [backup-simplify]: Simplify 1 into 1 46.336 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.337 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.337 * [backup-simplify]: Simplify (* 1 1) into 1 46.337 * [backup-simplify]: Simplify (* 0.25 1) into 0.25 46.337 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 46.338 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 46.338 * [backup-simplify]: Simplify 0 into 0 46.339 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 46.342 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25) 46.342 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 46.343 * [backup-simplify]: Simplify (+ (* (- 0.25) (pow (* phi1 1) 2)) (+ (* (- 0.25) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (pow phi2 2)) (* 0.25 (pow phi1 2)))) 46.343 * [backup-simplify]: Simplify (* (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5))) (* (cos (* (/ 1 phi2) 0.5)) (cos (* (/ 1 phi1) 0.5)))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 46.343 * [approximate]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in (phi2 phi1) around 0 46.343 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 46.343 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 46.343 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 46.343 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 46.343 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.343 * [backup-simplify]: Simplify 0.5 into 0.5 46.343 * [taylor]: Taking taylor expansion of phi1 in phi1 46.343 * [backup-simplify]: Simplify 0 into 0 46.343 * [backup-simplify]: Simplify 1 into 1 46.344 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.344 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 46.344 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 46.344 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 46.344 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.344 * [backup-simplify]: Simplify 0.5 into 0.5 46.344 * [taylor]: Taking taylor expansion of phi2 in phi1 46.344 * [backup-simplify]: Simplify phi2 into phi2 46.344 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 46.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.344 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 46.344 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 46.344 * [backup-simplify]: Simplify (- 0) into 0 46.344 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 46.344 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 46.344 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 46.344 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 46.344 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 46.344 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.345 * [backup-simplify]: Simplify 0.5 into 0.5 46.345 * [taylor]: Taking taylor expansion of phi1 in phi2 46.345 * [backup-simplify]: Simplify phi1 into phi1 46.345 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 46.345 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.345 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.345 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 46.345 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 46.345 * [backup-simplify]: Simplify (- 0) into 0 46.345 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 46.345 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 46.345 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 46.345 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 46.345 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.345 * [backup-simplify]: Simplify 0.5 into 0.5 46.345 * [taylor]: Taking taylor expansion of phi2 in phi2 46.345 * [backup-simplify]: Simplify 0 into 0 46.345 * [backup-simplify]: Simplify 1 into 1 46.346 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.346 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2 46.346 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2 46.346 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2 46.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 46.346 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.346 * [backup-simplify]: Simplify 0.5 into 0.5 46.346 * [taylor]: Taking taylor expansion of phi1 in phi2 46.346 * [backup-simplify]: Simplify phi1 into phi1 46.346 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 46.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.346 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1)) 46.346 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0 46.346 * [backup-simplify]: Simplify (- 0) into 0 46.346 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1)) 46.346 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2 46.346 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2 46.346 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 46.346 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.346 * [backup-simplify]: Simplify 0.5 into 0.5 46.346 * [taylor]: Taking taylor expansion of phi2 in phi2 46.346 * [backup-simplify]: Simplify 0 into 0 46.346 * [backup-simplify]: Simplify 1 into 1 46.347 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.347 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 46.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 46.347 * [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)) 46.347 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1 46.347 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1 46.347 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1 46.347 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 46.347 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.347 * [backup-simplify]: Simplify 0.5 into 0.5 46.347 * [taylor]: Taking taylor expansion of phi1 in phi1 46.347 * [backup-simplify]: Simplify 0 into 0 46.347 * [backup-simplify]: Simplify 1 into 1 46.348 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.348 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1 46.348 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1 46.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 46.348 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.348 * [backup-simplify]: Simplify 0.5 into 0.5 46.348 * [taylor]: Taking taylor expansion of phi2 in phi1 46.348 * [backup-simplify]: Simplify phi2 into phi2 46.348 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 46.348 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.348 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.348 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2)) 46.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0 46.349 * [backup-simplify]: Simplify (- 0) into 0 46.349 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2)) 46.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2) 46.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2) 46.349 * [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)) 46.349 * [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)) 46.349 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 46.350 * [backup-simplify]: Simplify (+ 0) into 0 46.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0 46.350 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 46.351 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.351 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0 46.351 * [backup-simplify]: Simplify (- 0) into 0 46.351 * [backup-simplify]: Simplify (+ 0 0) into 0 46.351 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 46.352 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 46.352 * [taylor]: Taking taylor expansion of 0 in phi1 46.352 * [backup-simplify]: Simplify 0 into 0 46.352 * [backup-simplify]: Simplify 0 into 0 46.352 * [backup-simplify]: Simplify (+ 0) into 0 46.352 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0 46.352 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 46.353 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.353 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0 46.353 * [backup-simplify]: Simplify (- 0) into 0 46.354 * [backup-simplify]: Simplify (+ 0 0) into 0 46.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0 46.354 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0 46.354 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0 46.354 * [backup-simplify]: Simplify 0 into 0 46.355 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 46.355 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.356 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.356 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.357 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.357 * [backup-simplify]: Simplify (- 0) into 0 46.358 * [backup-simplify]: Simplify (+ 0 0) into 0 46.358 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 46.359 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 46.359 * [taylor]: Taking taylor expansion of 0 in phi1 46.359 * [backup-simplify]: Simplify 0 into 0 46.359 * [backup-simplify]: Simplify 0 into 0 46.359 * [backup-simplify]: Simplify 0 into 0 46.360 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 46.361 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 46.362 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 46.363 * [backup-simplify]: Simplify (- 0) into 0 46.364 * [backup-simplify]: Simplify (+ 0 0) into 0 46.364 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0 46.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0 46.370 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0 46.370 * [backup-simplify]: Simplify 0 into 0 46.372 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0 46.373 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 46.374 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 46.374 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.376 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 46.376 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 46.377 * [backup-simplify]: Simplify (- 0) into 0 46.377 * [backup-simplify]: Simplify (+ 0 0) into 0 46.378 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1)))))) into 0 46.379 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))))) into 0 46.379 * [taylor]: Taking taylor expansion of 0 in phi1 46.379 * [backup-simplify]: Simplify 0 into 0 46.379 * [backup-simplify]: Simplify 0 into 0 46.380 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) 46.380 * [backup-simplify]: Simplify (* (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5))) (* (cos (* (/ 1 (- phi2)) 0.5)) (cos (* (/ 1 (- phi1)) 0.5)))) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 46.380 * [approximate]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in (phi2 phi1) around 0 46.380 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 46.381 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 46.381 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 46.381 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 46.381 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.381 * [backup-simplify]: Simplify -0.5 into -0.5 46.381 * [taylor]: Taking taylor expansion of phi2 in phi1 46.381 * [backup-simplify]: Simplify phi2 into phi2 46.381 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 46.381 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.381 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.381 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 46.381 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 46.382 * [backup-simplify]: Simplify (- 0) into 0 46.382 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 46.382 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 46.382 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 46.382 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 46.382 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.382 * [backup-simplify]: Simplify -0.5 into -0.5 46.382 * [taylor]: Taking taylor expansion of phi1 in phi1 46.382 * [backup-simplify]: Simplify 0 into 0 46.382 * [backup-simplify]: Simplify 1 into 1 46.382 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.383 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.383 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 46.383 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 46.383 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 46.383 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 46.383 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.383 * [backup-simplify]: Simplify -0.5 into -0.5 46.383 * [taylor]: Taking taylor expansion of phi2 in phi2 46.383 * [backup-simplify]: Simplify 0 into 0 46.383 * [backup-simplify]: Simplify 1 into 1 46.383 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.383 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.383 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 46.383 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 46.383 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 46.384 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.384 * [backup-simplify]: Simplify -0.5 into -0.5 46.384 * [taylor]: Taking taylor expansion of phi1 in phi2 46.384 * [backup-simplify]: Simplify phi1 into phi1 46.384 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 46.384 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.384 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.384 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 46.384 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 46.385 * [backup-simplify]: Simplify (- 0) into 0 46.385 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 46.385 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2 46.385 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2 46.385 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2 46.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 46.385 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.385 * [backup-simplify]: Simplify -0.5 into -0.5 46.385 * [taylor]: Taking taylor expansion of phi2 in phi2 46.385 * [backup-simplify]: Simplify 0 into 0 46.385 * [backup-simplify]: Simplify 1 into 1 46.385 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.386 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.386 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2 46.386 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2 46.386 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 46.386 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.386 * [backup-simplify]: Simplify -0.5 into -0.5 46.386 * [taylor]: Taking taylor expansion of phi1 in phi2 46.386 * [backup-simplify]: Simplify phi1 into phi1 46.386 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 46.386 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.386 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1)) 46.386 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0 46.387 * [backup-simplify]: Simplify (- 0) into 0 46.387 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1)) 46.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 46.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 46.388 * [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)) 46.388 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1 46.388 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1 46.388 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1 46.388 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 46.388 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.388 * [backup-simplify]: Simplify -0.5 into -0.5 46.388 * [taylor]: Taking taylor expansion of phi2 in phi1 46.388 * [backup-simplify]: Simplify phi2 into phi2 46.388 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 46.388 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.388 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2)) 46.389 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0 46.389 * [backup-simplify]: Simplify (- 0) into 0 46.389 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2)) 46.389 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1 46.389 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1 46.389 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 46.389 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.389 * [backup-simplify]: Simplify -0.5 into -0.5 46.389 * [taylor]: Taking taylor expansion of phi1 in phi1 46.389 * [backup-simplify]: Simplify 0 into 0 46.389 * [backup-simplify]: Simplify 1 into 1 46.390 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.390 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.390 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2) 46.390 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2) 46.391 * [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)) 46.391 * [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)) 46.392 * [backup-simplify]: Simplify (+ 0) into 0 46.392 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0 46.392 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 46.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.394 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0 46.394 * [backup-simplify]: Simplify (- 0) into 0 46.394 * [backup-simplify]: Simplify (+ 0 0) into 0 46.395 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 46.395 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 46.395 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 46.395 * [taylor]: Taking taylor expansion of 0 in phi1 46.395 * [backup-simplify]: Simplify 0 into 0 46.395 * [backup-simplify]: Simplify 0 into 0 46.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0 46.396 * [backup-simplify]: Simplify (+ 0) into 0 46.397 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0 46.397 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 46.398 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.398 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0 46.399 * [backup-simplify]: Simplify (- 0) into 0 46.399 * [backup-simplify]: Simplify (+ 0 0) into 0 46.399 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0 46.400 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0 46.400 * [backup-simplify]: Simplify 0 into 0 46.401 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.402 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.403 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.404 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.404 * [backup-simplify]: Simplify (- 0) into 0 46.404 * [backup-simplify]: Simplify (+ 0 0) into 0 46.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 46.406 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 46.407 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 46.407 * [taylor]: Taking taylor expansion of 0 in phi1 46.407 * [backup-simplify]: Simplify 0 into 0 46.407 * [backup-simplify]: Simplify 0 into 0 46.407 * [backup-simplify]: Simplify 0 into 0 46.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0 46.408 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.409 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 46.410 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 46.410 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 46.412 * [backup-simplify]: Simplify (- 0) into 0 46.412 * [backup-simplify]: Simplify (+ 0 0) into 0 46.413 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0 46.413 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0 46.413 * [backup-simplify]: Simplify 0 into 0 46.415 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 46.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 46.416 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.418 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 46.419 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 46.419 * [backup-simplify]: Simplify (- 0) into 0 46.419 * [backup-simplify]: Simplify (+ 0 0) into 0 46.420 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0 46.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2)))))) into 0 46.423 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))))) into 0 46.423 * [taylor]: Taking taylor expansion of 0 in phi1 46.423 * [backup-simplify]: Simplify 0 into 0 46.423 * [backup-simplify]: Simplify 0 into 0 46.423 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) 46.423 * * * * [progress]: [ 3 / 4 ] generating series at (2 1 1 1 2 2) 46.424 * [backup-simplify]: Simplify (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3) into (pow (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 3) 46.424 * [approximate]: Taking taylor expansion of (pow (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 3) in (phi2 phi1) around 0 46.424 * [taylor]: Taking taylor expansion of (pow (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 3) in phi1 46.424 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi1 46.424 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 46.424 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 46.424 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.424 * [backup-simplify]: Simplify 0.5 into 0.5 46.424 * [taylor]: Taking taylor expansion of phi2 in phi1 46.424 * [backup-simplify]: Simplify phi2 into phi2 46.424 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 46.424 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 46.424 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 46.424 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 46.424 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.424 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.424 * [backup-simplify]: Simplify 0.5 into 0.5 46.424 * [taylor]: Taking taylor expansion of phi1 in phi1 46.424 * [backup-simplify]: Simplify 0 into 0 46.424 * [backup-simplify]: Simplify 1 into 1 46.425 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.427 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.427 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 46.427 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 46.427 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 46.427 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 46.431 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 46.431 * [backup-simplify]: Simplify (+ 0) into 0 46.432 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0 46.432 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0 46.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.434 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0 46.434 * [backup-simplify]: Simplify (+ 0 0) into 0 46.435 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 46.435 * [taylor]: Taking taylor expansion of (pow (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 3) in phi2 46.435 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 46.435 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 46.435 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 46.435 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.435 * [backup-simplify]: Simplify 0.5 into 0.5 46.435 * [taylor]: Taking taylor expansion of phi2 in phi2 46.435 * [backup-simplify]: Simplify 0 into 0 46.435 * [backup-simplify]: Simplify 1 into 1 46.436 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.437 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.437 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 46.437 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 46.437 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.437 * [backup-simplify]: Simplify 0.5 into 0.5 46.437 * [taylor]: Taking taylor expansion of phi1 in phi2 46.437 * [backup-simplify]: Simplify phi1 into phi1 46.437 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 46.438 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 46.438 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 46.438 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 46.438 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 46.438 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 46.438 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi1))) into 0 46.438 * [backup-simplify]: Simplify (+ 0) into 0 46.439 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 46.440 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 46.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.441 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 46.441 * [backup-simplify]: Simplify (+ 0 0) into 0 46.444 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 46.444 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi1)))) into (* 0.5 (sin (* 0.5 phi1))) 46.444 * [taylor]: Taking taylor expansion of (pow (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) 3) in phi2 46.444 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))) in phi2 46.444 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 46.444 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 46.444 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.444 * [backup-simplify]: Simplify 0.5 into 0.5 46.445 * [taylor]: Taking taylor expansion of phi2 in phi2 46.445 * [backup-simplify]: Simplify 0 into 0 46.445 * [backup-simplify]: Simplify 1 into 1 46.445 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.446 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.447 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 46.447 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 46.447 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.447 * [backup-simplify]: Simplify 0.5 into 0.5 46.447 * [taylor]: Taking taylor expansion of phi1 in phi2 46.447 * [backup-simplify]: Simplify phi1 into phi1 46.447 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 46.447 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 46.447 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 46.447 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 46.447 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 46.447 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 46.447 * [backup-simplify]: Simplify (* 0 (sin (* 0.5 phi1))) into 0 46.448 * [backup-simplify]: Simplify (+ 0) into 0 46.448 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 46.449 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 46.450 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.450 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 46.450 * [backup-simplify]: Simplify (+ 0 0) into 0 46.453 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 46.454 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (sin (* 0.5 phi1)))) into (* 0.5 (sin (* 0.5 phi1))) 46.454 * [backup-simplify]: Simplify (* (* 0.5 (sin (* 0.5 phi1))) (* 0.5 (sin (* 0.5 phi1)))) into (* 0.25 (pow (sin (* 0.5 phi1)) 2)) 46.454 * [backup-simplify]: Simplify (* (* 0.5 (sin (* 0.5 phi1))) (* 0.25 (pow (sin (* 0.5 phi1)) 2))) into (* 0.125 (pow (sin (* 0.5 phi1)) 3)) 46.454 * [taylor]: Taking taylor expansion of (* 0.125 (pow (sin (* 0.5 phi1)) 3)) in phi1 46.454 * [taylor]: Taking taylor expansion of 0.125 in phi1 46.454 * [backup-simplify]: Simplify 0.125 into 0.125 46.454 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 3) in phi1 46.454 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 46.454 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.454 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.454 * [backup-simplify]: Simplify 0.5 into 0.5 46.454 * [taylor]: Taking taylor expansion of phi1 in phi1 46.455 * [backup-simplify]: Simplify 0 into 0 46.455 * [backup-simplify]: Simplify 1 into 1 46.455 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.456 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.459 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 46.459 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 46.460 * [backup-simplify]: Simplify (* 0.5 0.25) into 0.125 46.460 * [backup-simplify]: Simplify (* 0.125 0.125) into 0.015625 46.460 * [backup-simplify]: Simplify 0.015625 into 0.015625 46.461 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.462 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.463 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 46.464 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.464 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.465 * [backup-simplify]: Simplify (+ 0 0) into 0 46.466 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 46.466 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.467 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (sin (* 0.5 phi1))))) into 0 46.468 * [backup-simplify]: Simplify (+ (* (* 0.5 (sin (* 0.5 phi1))) 0) (* 0 (* 0.5 (sin (* 0.5 phi1))))) into 0 46.468 * [backup-simplify]: Simplify (+ (* (* 0.5 (sin (* 0.5 phi1))) 0) (* 0 (* 0.25 (pow (sin (* 0.5 phi1)) 2)))) into 0 46.468 * [taylor]: Taking taylor expansion of 0 in phi1 46.468 * [backup-simplify]: Simplify 0 into 0 46.468 * [backup-simplify]: Simplify 0 into 0 46.469 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 46.469 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.470 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 0.5)) into 0 46.470 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 0.25)) into 0 46.470 * [backup-simplify]: Simplify (+ (* 0.125 0) (* 0 0.125)) into 0 46.470 * [backup-simplify]: Simplify 0 into 0 46.471 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 46.471 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 46.472 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 phi1)))) into 0 46.473 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 46.474 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 46.474 * [backup-simplify]: Simplify (+ 0 0) into 0 46.474 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 46.477 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into (- 0.020833333333333332) 46.478 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (+ (* 0 0) (* (- 0.020833333333333332) (sin (* 0.5 phi1)))))) into (- (* 0.020833333333333332 (sin (* 0.5 phi1)))) 46.479 * [backup-simplify]: Simplify (+ (* (* 0.5 (sin (* 0.5 phi1))) (- (* 0.020833333333333332 (sin (* 0.5 phi1))))) (+ (* 0 0) (* (- (* 0.020833333333333332 (sin (* 0.5 phi1)))) (* 0.5 (sin (* 0.5 phi1)))))) into (- (* 0.020833333333333332 (pow (sin (* 0.5 phi1)) 2))) 46.480 * [backup-simplify]: Simplify (+ (* (* 0.5 (sin (* 0.5 phi1))) (- (* 0.020833333333333332 (pow (sin (* 0.5 phi1)) 2)))) (+ (* 0 0) (* (- (* 0.020833333333333332 (sin (* 0.5 phi1)))) (* 0.25 (pow (sin (* 0.5 phi1)) 2))))) into (- (* 0.015625 (pow (sin (* 0.5 phi1)) 3))) 46.480 * [taylor]: Taking taylor expansion of (- (* 0.015625 (pow (sin (* 0.5 phi1)) 3))) in phi1 46.480 * [taylor]: Taking taylor expansion of (* 0.015625 (pow (sin (* 0.5 phi1)) 3)) in phi1 46.480 * [taylor]: Taking taylor expansion of 0.015625 in phi1 46.480 * [backup-simplify]: Simplify 0.015625 into 0.015625 46.480 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 3) in phi1 46.480 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 46.480 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.480 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.480 * [backup-simplify]: Simplify 0.5 into 0.5 46.480 * [taylor]: Taking taylor expansion of phi1 in phi1 46.480 * [backup-simplify]: Simplify 0 into 0 46.480 * [backup-simplify]: Simplify 1 into 1 46.480 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.481 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.482 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 46.483 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 46.483 * [backup-simplify]: Simplify (* 0.5 0.25) into 0.125 46.483 * [backup-simplify]: Simplify (* 0.015625 0.125) into 0.001953125 46.484 * [backup-simplify]: Simplify (- 0.001953125) into (- 0.001953125) 46.484 * [backup-simplify]: Simplify (- 0.001953125) into (- 0.001953125) 46.484 * [backup-simplify]: Simplify 0 into 0 46.485 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 46.487 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into (- 0.020833333333333332) 46.491 * [backup-simplify]: Simplify (+ (* 0.5 (- 0.020833333333333332)) (+ (* 0 0) (* (- 0.020833333333333332) 0.5))) into (- 0.020833333333333332) 46.495 * [backup-simplify]: Simplify (+ (* 0.5 (- 0.020833333333333332)) (+ (* 0 0) (* (- 0.020833333333333332) 0.25))) into (- 0.015625) 46.498 * [backup-simplify]: Simplify (+ (* 0.125 (- 0.015625)) (+ (* 0 0) (* 0 0.125))) into (- 0.001953125) 46.498 * [backup-simplify]: Simplify (- 0.001953125) into (- 0.001953125) 46.500 * [backup-simplify]: Simplify (+ (* (- 0.001953125) (* (pow phi1 5) (pow phi2 3))) (+ (* (- 0.001953125) (* (pow phi1 3) (pow phi2 5))) (* 0.015625 (pow (* phi1 phi2) 3)))) into (- (* 0.015625 (* (pow phi2 3) (pow phi1 3))) (+ (* 0.001953125 (* (pow phi2 5) (pow phi1 3))) (* 0.001953125 (* (pow phi2 3) (pow phi1 5))))) 46.500 * [backup-simplify]: Simplify (pow (* (sin (* (/ 1 phi2) 0.5)) (sin (* (/ 1 phi1) 0.5))) 3) into (pow (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 3) 46.500 * [approximate]: Taking taylor expansion of (pow (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 3) in (phi2 phi1) around 0 46.500 * [taylor]: Taking taylor expansion of (pow (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 3) in phi1 46.500 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi1 46.500 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 46.500 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 46.500 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.500 * [backup-simplify]: Simplify 0.5 into 0.5 46.501 * [taylor]: Taking taylor expansion of phi1 in phi1 46.501 * [backup-simplify]: Simplify 0 into 0 46.501 * [backup-simplify]: Simplify 1 into 1 46.501 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.501 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.501 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 46.501 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 46.501 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.501 * [backup-simplify]: Simplify 0.5 into 0.5 46.501 * [taylor]: Taking taylor expansion of phi2 in phi1 46.501 * [backup-simplify]: Simplify phi2 into phi2 46.501 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 46.501 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.502 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.502 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 46.502 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 46.502 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 46.502 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 46.502 * [taylor]: Taking taylor expansion of (pow (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 3) in phi2 46.502 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 46.502 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 46.502 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 46.502 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.502 * [backup-simplify]: Simplify 0.5 into 0.5 46.502 * [taylor]: Taking taylor expansion of phi1 in phi2 46.502 * [backup-simplify]: Simplify phi1 into phi1 46.502 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 46.503 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.503 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.503 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 46.503 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 46.503 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.503 * [backup-simplify]: Simplify 0.5 into 0.5 46.503 * [taylor]: Taking taylor expansion of phi2 in phi2 46.503 * [backup-simplify]: Simplify 0 into 0 46.503 * [backup-simplify]: Simplify 1 into 1 46.504 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.504 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.504 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 46.504 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 46.504 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 46.504 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 46.504 * [taylor]: Taking taylor expansion of (pow (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 3) in phi2 46.504 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) in phi2 46.504 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 46.505 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 46.505 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.505 * [backup-simplify]: Simplify 0.5 into 0.5 46.505 * [taylor]: Taking taylor expansion of phi1 in phi2 46.505 * [backup-simplify]: Simplify phi1 into phi1 46.505 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 46.505 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.505 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.505 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 46.505 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 46.505 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.505 * [backup-simplify]: Simplify 0.5 into 0.5 46.505 * [taylor]: Taking taylor expansion of phi2 in phi2 46.505 * [backup-simplify]: Simplify 0 into 0 46.505 * [backup-simplify]: Simplify 1 into 1 46.506 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.506 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.506 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 46.506 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 46.506 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 46.506 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) into (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 46.507 * [backup-simplify]: Simplify (* (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 46.507 * [backup-simplify]: Simplify (* (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (* (pow (sin (/ 0.5 phi1)) 3) (pow (sin (/ 0.5 phi2)) 3)) 46.507 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 3) (pow (sin (/ 0.5 phi2)) 3)) in phi1 46.507 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 3) in phi1 46.507 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 46.507 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 46.507 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.507 * [backup-simplify]: Simplify 0.5 into 0.5 46.507 * [taylor]: Taking taylor expansion of phi1 in phi1 46.507 * [backup-simplify]: Simplify 0 into 0 46.507 * [backup-simplify]: Simplify 1 into 1 46.508 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.508 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.508 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 3) in phi1 46.508 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 46.508 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 46.508 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.508 * [backup-simplify]: Simplify 0.5 into 0.5 46.508 * [taylor]: Taking taylor expansion of phi2 in phi1 46.508 * [backup-simplify]: Simplify phi2 into phi2 46.508 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 46.508 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.509 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.509 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 46.509 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 46.509 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 46.509 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 46.509 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (pow (sin (/ 0.5 phi1)) 2)) into (pow (sin (/ 0.5 phi1)) 3) 46.509 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 46.510 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (pow (sin (/ 0.5 phi2)) 2)) into (pow (sin (/ 0.5 phi2)) 3) 46.510 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 3) (pow (sin (/ 0.5 phi2)) 3)) into (* (pow (sin (/ 0.5 phi1)) 3) (pow (sin (/ 0.5 phi2)) 3)) 46.510 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 3) (pow (sin (/ 0.5 phi2)) 3)) into (* (pow (sin (/ 0.5 phi1)) 3) (pow (sin (/ 0.5 phi2)) 3)) 46.511 * [backup-simplify]: Simplify (+ 0) into 0 46.511 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 46.512 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 46.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.513 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 46.513 * [backup-simplify]: Simplify (+ 0 0) into 0 46.514 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 46.514 * [backup-simplify]: Simplify (+ (* (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 0) (* 0 (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))) into 0 46.515 * [backup-simplify]: Simplify (+ (* (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)))) into 0 46.515 * [taylor]: Taking taylor expansion of 0 in phi1 46.515 * [backup-simplify]: Simplify 0 into 0 46.515 * [backup-simplify]: Simplify 0 into 0 46.515 * [backup-simplify]: Simplify (+ 0) into 0 46.516 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 46.516 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 46.517 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 46.518 * [backup-simplify]: Simplify (+ 0 0) into 0 46.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 46.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 46.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 46.519 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (pow (sin (/ 0.5 phi1)) 2))) into 0 46.519 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (* 0 (pow (sin (/ 0.5 phi2)) 3))) into 0 46.519 * [backup-simplify]: Simplify 0 into 0 46.520 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.526 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.527 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.527 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.528 * [backup-simplify]: Simplify (+ 0 0) into 0 46.528 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 46.529 * [backup-simplify]: Simplify (+ (* (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2)))))) into 0 46.530 * [backup-simplify]: Simplify (+ (* (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))))) into 0 46.530 * [taylor]: Taking taylor expansion of 0 in phi1 46.530 * [backup-simplify]: Simplify 0 into 0 46.530 * [backup-simplify]: Simplify 0 into 0 46.530 * [backup-simplify]: Simplify 0 into 0 46.532 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.532 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 46.533 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 46.533 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.534 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 46.534 * [backup-simplify]: Simplify (+ 0 0) into 0 46.535 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 46.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 46.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 46.537 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi1)) 2)))) into 0 46.538 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 3)))) into 0 46.538 * [backup-simplify]: Simplify 0 into 0 46.539 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 46.540 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 46.540 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.542 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 46.542 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 46.543 * [backup-simplify]: Simplify (+ 0 0) into 0 46.544 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2)))))) into 0 46.545 * [backup-simplify]: Simplify (+ (* (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))))))) into 0 46.546 * [backup-simplify]: Simplify (+ (* (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi2))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)))))) into 0 46.546 * [taylor]: Taking taylor expansion of 0 in phi1 46.546 * [backup-simplify]: Simplify 0 into 0 46.546 * [backup-simplify]: Simplify 0 into 0 46.547 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 (/ 1 phi1))) 3) (pow (sin (/ 0.5 (/ 1 phi2))) 3)) into (* (pow (sin (* 0.5 phi1)) 3) (pow (sin (* 0.5 phi2)) 3)) 46.547 * [backup-simplify]: Simplify (pow (* (sin (* (/ 1 (- phi2)) 0.5)) (sin (* (/ 1 (- phi1)) 0.5))) 3) into (pow (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 3) 46.547 * [approximate]: Taking taylor expansion of (pow (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 3) in (phi2 phi1) around 0 46.547 * [taylor]: Taking taylor expansion of (pow (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 3) in phi1 46.547 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1 46.547 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 46.547 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 46.547 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.547 * [backup-simplify]: Simplify -0.5 into -0.5 46.547 * [taylor]: Taking taylor expansion of phi2 in phi1 46.547 * [backup-simplify]: Simplify phi2 into phi2 46.547 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 46.548 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.548 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.548 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 46.548 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 46.548 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.548 * [backup-simplify]: Simplify -0.5 into -0.5 46.548 * [taylor]: Taking taylor expansion of phi1 in phi1 46.548 * [backup-simplify]: Simplify 0 into 0 46.548 * [backup-simplify]: Simplify 1 into 1 46.548 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.548 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 46.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 46.549 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 46.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 46.549 * [taylor]: Taking taylor expansion of (pow (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 3) in phi2 46.549 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 46.549 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 46.549 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 46.549 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.549 * [backup-simplify]: Simplify -0.5 into -0.5 46.549 * [taylor]: Taking taylor expansion of phi2 in phi2 46.549 * [backup-simplify]: Simplify 0 into 0 46.549 * [backup-simplify]: Simplify 1 into 1 46.550 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.550 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.550 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 46.550 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 46.550 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.550 * [backup-simplify]: Simplify -0.5 into -0.5 46.550 * [taylor]: Taking taylor expansion of phi1 in phi2 46.550 * [backup-simplify]: Simplify phi1 into phi1 46.550 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 46.550 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.550 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.550 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 46.550 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 46.551 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 46.551 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 46.551 * [taylor]: Taking taylor expansion of (pow (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 3) in phi2 46.551 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2 46.551 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 46.551 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 46.551 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.551 * [backup-simplify]: Simplify -0.5 into -0.5 46.551 * [taylor]: Taking taylor expansion of phi2 in phi2 46.551 * [backup-simplify]: Simplify 0 into 0 46.551 * [backup-simplify]: Simplify 1 into 1 46.551 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.552 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 46.552 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 46.552 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.552 * [backup-simplify]: Simplify -0.5 into -0.5 46.552 * [taylor]: Taking taylor expansion of phi1 in phi2 46.552 * [backup-simplify]: Simplify phi1 into phi1 46.552 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 46.552 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.552 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.552 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 46.552 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 46.552 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 46.552 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 46.553 * [backup-simplify]: Simplify (* (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 46.553 * [backup-simplify]: Simplify (* (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)) 46.553 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)) in phi1 46.554 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 3) in phi1 46.554 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 46.554 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 46.554 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.554 * [backup-simplify]: Simplify -0.5 into -0.5 46.554 * [taylor]: Taking taylor expansion of phi2 in phi1 46.554 * [backup-simplify]: Simplify phi2 into phi2 46.554 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 46.554 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.554 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.554 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 46.554 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 46.554 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 46.554 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 3) in phi1 46.554 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 46.554 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 46.554 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.554 * [backup-simplify]: Simplify -0.5 into -0.5 46.554 * [taylor]: Taking taylor expansion of phi1 in phi1 46.554 * [backup-simplify]: Simplify 0 into 0 46.555 * [backup-simplify]: Simplify 1 into 1 46.555 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.555 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 46.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (pow (sin (/ -0.5 phi2)) 2)) into (pow (sin (/ -0.5 phi2)) 3) 46.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 46.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (pow (sin (/ -0.5 phi1)) 2)) into (pow (sin (/ -0.5 phi1)) 3) 46.557 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)) into (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)) 46.557 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)) into (* (pow (sin (/ -0.5 phi2)) 3) (pow (sin (/ -0.5 phi1)) 3)) 46.558 * [backup-simplify]: Simplify (+ 0) into 0 46.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 46.558 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 46.559 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.560 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 46.560 * [backup-simplify]: Simplify (+ 0 0) into 0 46.561 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 46.561 * [backup-simplify]: Simplify (+ (* (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0 46.562 * [backup-simplify]: Simplify (+ (* (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into 0 46.562 * [taylor]: Taking taylor expansion of 0 in phi1 46.562 * [backup-simplify]: Simplify 0 into 0 46.562 * [backup-simplify]: Simplify 0 into 0 46.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 46.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 46.563 * [backup-simplify]: Simplify (+ 0) into 0 46.564 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 46.564 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 46.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.565 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 46.566 * [backup-simplify]: Simplify (+ 0 0) into 0 46.566 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 46.566 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (pow (sin (/ -0.5 phi2)) 2))) into 0 46.567 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (* 0 (pow (sin (/ -0.5 phi1)) 3))) into 0 46.567 * [backup-simplify]: Simplify 0 into 0 46.568 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.569 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.570 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.571 * [backup-simplify]: Simplify (+ 0 0) into 0 46.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 46.572 * [backup-simplify]: Simplify (+ (* (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0 46.573 * [backup-simplify]: Simplify (+ (* (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))))) into 0 46.573 * [taylor]: Taking taylor expansion of 0 in phi1 46.573 * [backup-simplify]: Simplify 0 into 0 46.573 * [backup-simplify]: Simplify 0 into 0 46.573 * [backup-simplify]: Simplify 0 into 0 46.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 46.575 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 46.576 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 46.577 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 46.578 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 46.579 * [backup-simplify]: Simplify (+ 0 0) into 0 46.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 46.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi2)) 2)))) into 0 46.581 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 3) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 3)))) into 0 46.581 * [backup-simplify]: Simplify 0 into 0 46.582 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 46.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 46.583 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.585 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 46.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 46.587 * [backup-simplify]: Simplify (+ 0 0) into 0 46.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0 46.590 * [backup-simplify]: Simplify (+ (* (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0 46.591 * [backup-simplify]: Simplify (+ (* (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))))) into 0 46.592 * [taylor]: Taking taylor expansion of 0 in phi1 46.592 * [backup-simplify]: Simplify 0 into 0 46.592 * [backup-simplify]: Simplify 0 into 0 46.592 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 3) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 3)) into (* (pow (sin (* 0.5 phi2)) 3) (pow (sin (* 0.5 phi1)) 3)) 46.592 * * * * [progress]: [ 4 / 4 ] generating series at (2 1 1 2 2 1) 46.593 * [backup-simplify]: Simplify (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) 46.593 * [approximate]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in (phi2 phi1) around 0 46.593 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in phi1 46.593 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1 46.593 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1 46.593 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1 46.593 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.593 * [backup-simplify]: Simplify 0.5 into 0.5 46.593 * [taylor]: Taking taylor expansion of phi2 in phi1 46.593 * [backup-simplify]: Simplify phi2 into phi2 46.593 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 46.594 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 46.594 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 46.594 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2)) 46.594 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0 46.594 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2)) 46.594 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 46.594 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 46.594 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.594 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.594 * [backup-simplify]: Simplify 0.5 into 0.5 46.594 * [taylor]: Taking taylor expansion of phi1 in phi1 46.594 * [backup-simplify]: Simplify 0 into 0 46.594 * [backup-simplify]: Simplify 1 into 1 46.595 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.596 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 46.599 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 46.599 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 46.599 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 46.599 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 46.599 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.599 * [backup-simplify]: Simplify 0.5 into 0.5 46.599 * [taylor]: Taking taylor expansion of phi2 in phi2 46.600 * [backup-simplify]: Simplify 0 into 0 46.600 * [backup-simplify]: Simplify 1 into 1 46.600 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.601 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 46.603 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 46.603 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 46.603 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 46.603 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.603 * [backup-simplify]: Simplify 0.5 into 0.5 46.603 * [taylor]: Taking taylor expansion of phi1 in phi2 46.603 * [backup-simplify]: Simplify phi1 into phi1 46.603 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 46.603 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 46.603 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 46.603 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 46.603 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 46.603 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 46.603 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in phi2 46.603 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2 46.603 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 46.603 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 46.603 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.603 * [backup-simplify]: Simplify 0.5 into 0.5 46.603 * [taylor]: Taking taylor expansion of phi2 in phi2 46.603 * [backup-simplify]: Simplify 0 into 0 46.603 * [backup-simplify]: Simplify 1 into 1 46.604 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.605 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.606 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 46.606 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2 46.606 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2 46.607 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2 46.607 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.607 * [backup-simplify]: Simplify 0.5 into 0.5 46.607 * [taylor]: Taking taylor expansion of phi1 in phi2 46.607 * [backup-simplify]: Simplify phi1 into phi1 46.607 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 46.607 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 46.607 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 46.607 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1)) 46.607 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0 46.607 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1)) 46.607 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 46.607 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2) 46.608 * [backup-simplify]: Simplify (* 0.25 (pow (sin (* 0.5 phi1)) 2)) into (* 0.25 (pow (sin (* 0.5 phi1)) 2)) 46.608 * [taylor]: Taking taylor expansion of (* 0.25 (pow (sin (* 0.5 phi1)) 2)) in phi1 46.608 * [taylor]: Taking taylor expansion of 0.25 in phi1 46.608 * [backup-simplify]: Simplify 0.25 into 0.25 46.608 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 46.608 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 46.608 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.608 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.608 * [backup-simplify]: Simplify 0.5 into 0.5 46.608 * [taylor]: Taking taylor expansion of phi1 in phi1 46.608 * [backup-simplify]: Simplify 0 into 0 46.608 * [backup-simplify]: Simplify 1 into 1 46.608 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.609 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.611 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 46.611 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 46.611 * [backup-simplify]: Simplify (* 0.25 0.25) into 0.0625 46.611 * [backup-simplify]: Simplify 0.0625 into 0.0625 46.612 * [backup-simplify]: Simplify (+ 0) into 0 46.612 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0 46.612 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0 46.613 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.613 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0 46.614 * [backup-simplify]: Simplify (+ 0 0) into 0 46.614 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0 46.614 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 46.615 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.616 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 0.5)) into 0 46.616 * [backup-simplify]: Simplify (+ (* 0.25 0) (* 0 (pow (sin (* 0.5 phi1)) 2))) into 0 46.616 * [taylor]: Taking taylor expansion of 0 in phi1 46.616 * [backup-simplify]: Simplify 0 into 0 46.616 * [backup-simplify]: Simplify 0 into 0 46.617 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0 46.617 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.618 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 0.5)) into 0 46.618 * [backup-simplify]: Simplify (+ (* 0.25 0) (* 0 0.25)) into 0 46.618 * [backup-simplify]: Simplify 0 into 0 46.619 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.619 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.620 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0 46.620 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.621 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.621 * [backup-simplify]: Simplify (+ 0 0) into 0 46.621 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi1))))) into 0 46.622 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 46.625 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into (- 0.020833333333333332) 46.628 * [backup-simplify]: Simplify (+ (* 0.5 (- 0.020833333333333332)) (+ (* 0 0) (* (- 0.020833333333333332) 0.5))) into (- 0.020833333333333332) 46.630 * [backup-simplify]: Simplify (+ (* 0.25 0) (+ (* 0 0) (* (- 0.020833333333333332) (pow (sin (* 0.5 phi1)) 2)))) into (- (* 0.020833333333333332 (pow (sin (* 0.5 phi1)) 2))) 46.630 * [taylor]: Taking taylor expansion of (- (* 0.020833333333333332 (pow (sin (* 0.5 phi1)) 2))) in phi1 46.630 * [taylor]: Taking taylor expansion of (* 0.020833333333333332 (pow (sin (* 0.5 phi1)) 2)) in phi1 46.630 * [taylor]: Taking taylor expansion of 0.020833333333333332 in phi1 46.630 * [backup-simplify]: Simplify 0.020833333333333332 into 0.020833333333333332 46.630 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1 46.630 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1 46.630 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1 46.630 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.630 * [backup-simplify]: Simplify 0.5 into 0.5 46.630 * [taylor]: Taking taylor expansion of phi1 in phi1 46.630 * [backup-simplify]: Simplify 0 into 0 46.630 * [backup-simplify]: Simplify 1 into 1 46.630 * [backup-simplify]: Simplify (* 0.5 0) into 0 46.632 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 46.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 46.635 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25 46.635 * [backup-simplify]: Simplify (* 0.020833333333333332 0.25) into 0.005208333333333333 46.635 * [backup-simplify]: Simplify (- 0.005208333333333333) into (- 0.005208333333333333) 46.636 * [backup-simplify]: Simplify (- 0.005208333333333333) into (- 0.005208333333333333) 46.636 * [backup-simplify]: Simplify 0 into 0 46.637 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 46.641 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into (- 0.020833333333333332) 46.643 * [backup-simplify]: Simplify (+ (* 0.5 (- 0.020833333333333332)) (+ (* 0 0) (* (- 0.020833333333333332) 0.5))) into (- 0.020833333333333332) 46.645 * [backup-simplify]: Simplify (+ (* 0.25 (- 0.020833333333333332)) (+ (* 0 0) (* 0 0.25))) into (- 0.005208333333333333) 46.645 * [backup-simplify]: Simplify (- 0.005208333333333333) into (- 0.005208333333333333) 46.646 * [backup-simplify]: Simplify (+ (* (- 0.005208333333333333) (pow (* (pow phi1 2) phi2) 2)) (+ (* (- 0.005208333333333333) (pow (* phi1 (pow phi2 2)) 2)) (* 0.0625 (pow (* phi1 phi2) 2)))) into (- (* 0.0625 (* (pow phi2 2) (pow phi1 2))) (+ (* 0.005208333333333333 (* (pow phi2 2) (pow phi1 4))) (* 0.005208333333333333 (* (pow phi2 4) (pow phi1 2))))) 46.647 * [backup-simplify]: Simplify (* (* (sin (* (/ 1 phi2) 0.5)) (sin (* (/ 1 phi1) 0.5))) (* (sin (* (/ 1 phi2) 0.5)) (sin (* (/ 1 phi1) 0.5)))) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 46.647 * [approximate]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in (phi2 phi1) around 0 46.647 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 46.647 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 46.647 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 46.647 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 46.647 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.647 * [backup-simplify]: Simplify 0.5 into 0.5 46.647 * [taylor]: Taking taylor expansion of phi1 in phi1 46.647 * [backup-simplify]: Simplify 0 into 0 46.647 * [backup-simplify]: Simplify 1 into 1 46.647 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.647 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.647 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 46.648 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 46.648 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 46.648 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.648 * [backup-simplify]: Simplify 0.5 into 0.5 46.648 * [taylor]: Taking taylor expansion of phi2 in phi1 46.648 * [backup-simplify]: Simplify phi2 into phi2 46.648 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 46.648 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.648 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 46.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 46.648 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 46.648 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 46.648 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 46.648 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 46.648 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 46.648 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.648 * [backup-simplify]: Simplify 0.5 into 0.5 46.648 * [taylor]: Taking taylor expansion of phi1 in phi2 46.648 * [backup-simplify]: Simplify phi1 into phi1 46.649 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 46.649 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.649 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 46.649 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 46.649 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 46.649 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 46.649 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 46.649 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 46.649 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.649 * [backup-simplify]: Simplify 0.5 into 0.5 46.649 * [taylor]: Taking taylor expansion of phi2 in phi2 46.649 * [backup-simplify]: Simplify 0 into 0 46.649 * [backup-simplify]: Simplify 1 into 1 46.650 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.650 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.650 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2 46.650 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2 46.650 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2 46.650 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2 46.650 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.650 * [backup-simplify]: Simplify 0.5 into 0.5 46.650 * [taylor]: Taking taylor expansion of phi1 in phi2 46.650 * [backup-simplify]: Simplify phi1 into phi1 46.650 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1) 46.650 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.650 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1)) 46.650 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1)) 46.650 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0 46.650 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1)) 46.650 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2 46.650 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2 46.650 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2 46.650 * [taylor]: Taking taylor expansion of 0.5 in phi2 46.650 * [backup-simplify]: Simplify 0.5 into 0.5 46.650 * [taylor]: Taking taylor expansion of phi2 in phi2 46.650 * [backup-simplify]: Simplify 0 into 0 46.650 * [backup-simplify]: Simplify 1 into 1 46.651 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.651 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.651 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 46.651 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 46.651 * [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)) 46.651 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1 46.651 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1 46.651 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1 46.651 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1 46.652 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.652 * [backup-simplify]: Simplify 0.5 into 0.5 46.652 * [taylor]: Taking taylor expansion of phi1 in phi1 46.652 * [backup-simplify]: Simplify 0 into 0 46.652 * [backup-simplify]: Simplify 1 into 1 46.652 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5 46.652 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1)) 46.652 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1 46.652 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1 46.652 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1 46.652 * [taylor]: Taking taylor expansion of 0.5 in phi1 46.652 * [backup-simplify]: Simplify 0.5 into 0.5 46.652 * [taylor]: Taking taylor expansion of phi2 in phi1 46.652 * [backup-simplify]: Simplify phi2 into phi2 46.652 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2) 46.652 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2)) 46.652 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2)) 46.652 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2)) 46.652 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0 46.653 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2)) 46.653 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2) 46.653 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2) 46.653 * [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)) 46.653 * [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)) 46.653 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 46.654 * [backup-simplify]: Simplify (+ 0) into 0 46.654 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0 46.654 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0 46.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.655 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0 46.655 * [backup-simplify]: Simplify (+ 0 0) into 0 46.656 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 46.656 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 46.656 * [taylor]: Taking taylor expansion of 0 in phi1 46.656 * [backup-simplify]: Simplify 0 into 0 46.656 * [backup-simplify]: Simplify 0 into 0 46.656 * [backup-simplify]: Simplify (+ 0) into 0 46.657 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0 46.657 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0 46.657 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.658 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0 46.658 * [backup-simplify]: Simplify (+ 0 0) into 0 46.658 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0 46.658 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0 46.658 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0 46.658 * [backup-simplify]: Simplify 0 into 0 46.659 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 46.659 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.660 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.660 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.660 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.661 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.661 * [backup-simplify]: Simplify (+ 0 0) into 0 46.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 46.662 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 46.662 * [taylor]: Taking taylor expansion of 0 in phi1 46.662 * [backup-simplify]: Simplify 0 into 0 46.662 * [backup-simplify]: Simplify 0 into 0 46.662 * [backup-simplify]: Simplify 0 into 0 46.663 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.663 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 46.663 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 46.664 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.664 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 46.667 * [backup-simplify]: Simplify (+ 0 0) into 0 46.668 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0 46.669 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0 46.669 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0 46.669 * [backup-simplify]: Simplify 0 into 0 46.670 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2)))))) into 0 46.670 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 46.671 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 46.671 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.672 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 46.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 46.673 * [backup-simplify]: Simplify (+ 0 0) into 0 46.674 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0 46.675 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))))) into 0 46.675 * [taylor]: Taking taylor expansion of 0 in phi1 46.675 * [backup-simplify]: Simplify 0 into 0 46.675 * [backup-simplify]: Simplify 0 into 0 46.676 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) 46.677 * [backup-simplify]: Simplify (* (* (sin (* (/ 1 (- phi2)) 0.5)) (sin (* (/ 1 (- phi1)) 0.5))) (* (sin (* (/ 1 (- phi2)) 0.5)) (sin (* (/ 1 (- phi1)) 0.5)))) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 46.677 * [approximate]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in (phi2 phi1) around 0 46.677 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 46.677 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 46.677 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 46.677 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 46.677 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.677 * [backup-simplify]: Simplify -0.5 into -0.5 46.677 * [taylor]: Taking taylor expansion of phi2 in phi1 46.677 * [backup-simplify]: Simplify phi2 into phi2 46.677 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 46.677 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.677 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.677 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 46.677 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 46.678 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 46.678 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 46.678 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 46.678 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 46.678 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.678 * [backup-simplify]: Simplify -0.5 into -0.5 46.678 * [taylor]: Taking taylor expansion of phi1 in phi1 46.678 * [backup-simplify]: Simplify 0 into 0 46.678 * [backup-simplify]: Simplify 1 into 1 46.679 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.679 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 46.679 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 46.679 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 46.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 46.679 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.679 * [backup-simplify]: Simplify -0.5 into -0.5 46.679 * [taylor]: Taking taylor expansion of phi2 in phi2 46.679 * [backup-simplify]: Simplify 0 into 0 46.679 * [backup-simplify]: Simplify 1 into 1 46.680 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.680 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 46.680 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 46.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 46.680 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.680 * [backup-simplify]: Simplify -0.5 into -0.5 46.680 * [taylor]: Taking taylor expansion of phi1 in phi2 46.680 * [backup-simplify]: Simplify phi1 into phi1 46.680 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 46.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.680 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.680 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 46.681 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 46.681 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 46.681 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2 46.681 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2 46.681 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2 46.681 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2 46.681 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.681 * [backup-simplify]: Simplify -0.5 into -0.5 46.681 * [taylor]: Taking taylor expansion of phi2 in phi2 46.681 * [backup-simplify]: Simplify 0 into 0 46.681 * [backup-simplify]: Simplify 1 into 1 46.682 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.682 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.682 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2 46.682 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2 46.682 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2 46.682 * [taylor]: Taking taylor expansion of -0.5 in phi2 46.682 * [backup-simplify]: Simplify -0.5 into -0.5 46.682 * [taylor]: Taking taylor expansion of phi1 in phi2 46.682 * [backup-simplify]: Simplify phi1 into phi1 46.682 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1) 46.682 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.683 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1)) 46.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1)) 46.683 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0 46.683 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1)) 46.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 46.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 46.684 * [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)) 46.684 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1 46.684 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1 46.684 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1 46.684 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1 46.684 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.684 * [backup-simplify]: Simplify -0.5 into -0.5 46.684 * [taylor]: Taking taylor expansion of phi2 in phi1 46.684 * [backup-simplify]: Simplify phi2 into phi2 46.684 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2) 46.684 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2)) 46.684 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2)) 46.684 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2)) 46.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0 46.685 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2)) 46.685 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1 46.685 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1 46.685 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1 46.685 * [taylor]: Taking taylor expansion of -0.5 in phi1 46.685 * [backup-simplify]: Simplify -0.5 into -0.5 46.685 * [taylor]: Taking taylor expansion of phi1 in phi1 46.685 * [backup-simplify]: Simplify 0 into 0 46.685 * [backup-simplify]: Simplify 1 into 1 46.686 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5 46.686 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1)) 46.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2) 46.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2) 46.686 * [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)) 46.687 * [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)) 46.687 * [backup-simplify]: Simplify (+ 0) into 0 46.688 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0 46.688 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0 46.689 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.689 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0 46.689 * [backup-simplify]: Simplify (+ 0 0) into 0 46.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 46.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 46.690 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 46.690 * [taylor]: Taking taylor expansion of 0 in phi1 46.690 * [backup-simplify]: Simplify 0 into 0 46.690 * [backup-simplify]: Simplify 0 into 0 46.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0 46.690 * [backup-simplify]: Simplify (+ 0) into 0 46.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0 46.691 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0 46.691 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 46.691 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0 46.692 * [backup-simplify]: Simplify (+ 0 0) into 0 46.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0 46.692 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0 46.692 * [backup-simplify]: Simplify 0 into 0 46.693 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.693 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0 46.693 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.694 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.694 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0 46.694 * [backup-simplify]: Simplify (+ 0 0) into 0 46.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 46.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 46.696 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 46.696 * [taylor]: Taking taylor expansion of 0 in phi1 46.696 * [backup-simplify]: Simplify 0 into 0 46.696 * [backup-simplify]: Simplify 0 into 0 46.696 * [backup-simplify]: Simplify 0 into 0 46.696 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0 46.697 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 46.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0 46.698 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 46.698 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 46.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0 46.699 * [backup-simplify]: Simplify (+ 0 0) into 0 46.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0 46.699 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0 46.700 * [backup-simplify]: Simplify 0 into 0 46.700 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 46.701 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 46.701 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 46.702 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 46.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 46.702 * [backup-simplify]: Simplify (+ 0 0) into 0 46.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0 46.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2)))))) into 0 46.704 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))))) into 0 46.704 * [taylor]: Taking taylor expansion of 0 in phi1 46.704 * [backup-simplify]: Simplify 0 into 0 46.704 * [backup-simplify]: Simplify 0 into 0 46.705 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2)) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) 46.705 * * * [progress]: simplifying candidates 46.707 * [simplify]: Simplifying: (expm1 (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (log1p (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (* (+ (log (cos (* phi2 0.5))) (log (cos (* phi1 0.5)))) 3) (* (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) 3) (* (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) 3) (* 1 3) (* 1 3) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cbrt 3) (cbrt 3))) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (sqrt 3)) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 1) (pow (cos (* phi2 0.5)) 3) (pow (cos (* phi1 0.5)) 3) (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (log (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (exp (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (* (cbrt (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (cbrt (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3))) (cbrt (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (* (* (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (pow (cos (* phi2 0.5)) 3) (pow (cos (* phi1 0.5)) 3) (pow (+ (cos (+ (* phi2 0.5) (* phi1 0.5))) (cos (- (* phi2 0.5) (* phi1 0.5)))) 3) (pow 2 3) (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (sqrt (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (sqrt (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (/ 3 2)) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (/ 3 2)) (expm1 (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (log1p (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (+ 1 1) (+ 1 1) (+ 1 1) (+ 1 1) (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (+ 1 1) (+ 1 1) (+ (+ (log (cos (* phi2 0.5))) (log (cos (* phi1 0.5)))) (+ (log (cos (* phi2 0.5))) (log (cos (* phi1 0.5))))) (+ (+ (log (cos (* phi2 0.5))) (log (cos (* phi1 0.5)))) (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (+ (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (+ (log (cos (* phi2 0.5))) (log (cos (* phi1 0.5))))) (+ (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (log (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (exp (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* (* (* (* (cos (* phi2 0.5)) (cos (* phi2 0.5))) (cos (* phi2 0.5))) (* (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (cos (* phi1 0.5)))) (* (* (* (cos (* phi2 0.5)) (cos (* phi2 0.5))) (cos (* phi2 0.5))) (* (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (cos (* phi1 0.5))))) (* (* (* (* (cos (* phi2 0.5)) (cos (* phi2 0.5))) (cos (* phi2 0.5))) (* (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (cos (* phi1 0.5)))) (* (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* (* (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (* (* (cos (* phi2 0.5)) (cos (* phi2 0.5))) (cos (* phi2 0.5))) (* (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (cos (* phi1 0.5))))) (* (* (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* (cbrt (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (cbrt (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))))) (cbrt (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* (* (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (sqrt (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (sqrt (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* (+ (cos (+ (* phi2 0.5) (* phi1 0.5))) (cos (- (* phi2 0.5) (* phi1 0.5)))) (+ (cos (+ (* phi2 0.5) (* phi1 0.5))) (cos (- (* phi2 0.5) (* phi1 0.5))))) (* 2 2) (* (cos (* phi2 0.5)) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (cos (* phi1 0.5))) (* 2 1) (* 2 1) (* 2 1) (* 2 1) (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (cos (* phi2 0.5))) (* (cos (* phi1 0.5)) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (+ (cos (+ (* phi2 0.5) (* phi1 0.5))) (cos (- (* phi2 0.5) (* phi1 0.5))))) (* (+ (cos (+ (* phi2 0.5) (* phi1 0.5))) (cos (- (* phi2 0.5) (* phi1 0.5)))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (expm1 (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (log1p (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (* (+ (log (sin (* phi2 0.5))) (log (sin (* phi1 0.5)))) 3) (* (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 3) (* (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 3) (* 1 3) (* 1 3) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (cbrt 3) (cbrt 3))) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (sqrt 3)) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 1) (pow (sin (* phi2 0.5)) 3) (pow (sin (* phi1 0.5)) 3) (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (log (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (exp (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (* (cbrt (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (cbrt (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3))) (cbrt (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (* (* (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (pow (sin (* phi2 0.5)) 3) (pow (sin (* phi1 0.5)) 3) (pow (- (cos (- (* phi2 0.5) (* phi1 0.5))) (cos (+ (* phi2 0.5) (* phi1 0.5)))) 3) (pow 2 3) (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (sqrt (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (sqrt (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (/ 3 2)) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (/ 3 2)) (expm1 (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (log1p (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (+ 1 1) (+ 1 1) (+ 1 1) (+ 1 1) (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (+ 1 1) (+ 1 1) (+ (+ (log (sin (* phi2 0.5))) (log (sin (* phi1 0.5)))) (+ (log (sin (* phi2 0.5))) (log (sin (* phi1 0.5))))) (+ (+ (log (sin (* phi2 0.5))) (log (sin (* phi1 0.5)))) (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (+ (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (+ (log (sin (* phi2 0.5))) (log (sin (* phi1 0.5))))) (+ (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (log (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (exp (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (* (* (* (sin (* phi2 0.5)) (sin (* phi2 0.5))) (sin (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (sin (* phi1 0.5)))) (* (* (* (sin (* phi2 0.5)) (sin (* phi2 0.5))) (sin (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (sin (* phi1 0.5))))) (* (* (* (* (sin (* phi2 0.5)) (sin (* phi2 0.5))) (sin (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (sin (* phi1 0.5)))) (* (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (* (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (* (* (sin (* phi2 0.5)) (sin (* phi2 0.5))) (sin (* phi2 0.5))) (* (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (sin (* phi1 0.5))))) (* (* (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (cbrt (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (cbrt (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))))) (cbrt (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (* (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (sqrt (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (sqrt (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* (- (cos (- (* phi2 0.5) (* phi1 0.5))) (cos (+ (* phi2 0.5) (* phi1 0.5)))) (- (cos (- (* phi2 0.5) (* phi1 0.5))) (cos (+ (* phi2 0.5) (* phi1 0.5))))) (* 2 2) (* (sin (* phi2 0.5)) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (sin (* phi1 0.5))) (* 2 1) (* 2 1) (* 2 1) (* 2 1) (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (sin (* phi2 0.5))) (* (sin (* phi1 0.5)) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (- (cos (- (* phi2 0.5) (* phi1 0.5))) (cos (+ (* phi2 0.5) (* phi1 0.5))))) (* (- (cos (- (* phi2 0.5) (* phi1 0.5))) (cos (+ (* phi2 0.5) (* phi1 0.5)))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- 1 (+ (* 0.375 (pow phi2 2)) (* 0.375 (pow phi1 2)))) (* (pow (cos (* 0.5 phi1)) 3) (pow (cos (* 0.5 phi2)) 3)) (* (pow (cos (* 0.5 phi2)) 3) (pow (cos (* 0.5 phi1)) 3)) (- 1 (+ (* 0.25 (pow phi2 2)) (* 0.25 (pow phi1 2)))) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (- (* 0.015625 (* (pow phi2 3) (pow phi1 3))) (+ (* 0.001953125 (* (pow phi2 5) (pow phi1 3))) (* 0.001953125 (* (pow phi2 3) (pow phi1 5))))) (* (pow (sin (* 0.5 phi1)) 3) (pow (sin (* 0.5 phi2)) 3)) (* (pow (sin (* 0.5 phi2)) 3) (pow (sin (* 0.5 phi1)) 3)) (- (* 0.0625 (* (pow phi2 2) (pow phi1 2))) (+ (* 0.005208333333333333 (* (pow phi2 2) (pow phi1 4))) (* 0.005208333333333333 (* (pow phi2 4) (pow phi1 2))))) (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) 46.710 * * [simplify]: Extracting # 0 : cost 0 46.710 * * [simplify]: Extracting # 1 : cost 0 46.711 * * [simplify]: Extracting # 2 : cost 0 46.711 * * [simplify]: Extracting # 3 : cost 0 46.711 * * [simplify]: Extracting # 4 : cost 0 46.711 * * [simplify]: Extracting # 5 : cost 0 46.712 * * [simplify]: Extracting # 6 : cost 0 46.712 * * [simplify]: Extracting # 7 : cost 0 46.712 * * [simplify]: Extracting # 8 : cost 0 46.712 * * [simplify]: Extracting # 9 : cost 0 46.713 * * [simplify]: iteration 0 : 195 enodes (cost 2474 ) 46.784 * * [simplify]: Extracting # 0 : cost 0 46.785 * * [simplify]: Extracting # 1 : cost 0 46.785 * * [simplify]: Extracting # 2 : cost 0 46.786 * * [simplify]: Extracting # 3 : cost 0 46.786 * * [simplify]: Extracting # 4 : cost 0 46.787 * * [simplify]: Extracting # 5 : cost 0 46.788 * * [simplify]: Extracting # 6 : cost 0 46.788 * * [simplify]: iteration 1 : 479 enodes (cost 1522 ) 47.069 * * [simplify]: Extracting # 0 : cost 0 47.072 * * [simplify]: Extracting # 1 : cost 0 47.076 * * [simplify]: Extracting # 2 : cost 0 47.087 * * [simplify]: Extracting # 3 : cost 0 47.091 * * [simplify]: Extracting # 4 : cost 0 47.095 * * [simplify]: iteration 2 : 1870 enodes (cost 1435 ) 48.136 * * [simplify]: Extracting # 0 : cost 0 48.142 * * [simplify]: Extracting # 1 : cost 0 48.149 * * [simplify]: Extracting # 2 : cost 0 48.155 * * [simplify]: Extracting # 3 : cost 0 48.163 * * [simplify]: Extracting # 4 : cost 0 48.176 * * [simplify]: Extracting # 5 : cost 0 48.190 * * [simplify]: iteration done: 5001 enodes (cost 1424 ) 48.191 * [simplify]: Simplified to: (expm1 (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (log1p (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (* 3 (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* 3 (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* 3 (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) 3 3 (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (* (cbrt 3) (cbrt 3))) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (sqrt 3)) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (pow (cos (* 0.5 phi2)) 3) (pow (cos (* phi1 0.5)) 3) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2) (* 3 (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (exp (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2) (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) (pow (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3) 3) (pow (cos (* 0.5 phi2)) 3) (pow (cos (* phi1 0.5)) 3) (pow (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) 3) 8 (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2) (sqrt (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (sqrt (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3)) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3/2) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3/2) (expm1 (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2)) (log1p (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2)) 2 2 2 2 (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2) 2 2 (* 2 (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* 2 (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* 2 (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* 2 (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (* 2 (log (* (cos (* phi2 0.5)) (cos (* phi1 0.5))))) (exp (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2)) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 6) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 6) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 6) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 6) (* (cbrt (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2)) (cbrt (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2))) (cbrt (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2)) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 6) (fabs (* (cos (* 0.5 phi1)) (cos (* phi2 0.5)))) (fabs (* (cos (* 0.5 phi1)) (cos (* phi2 0.5)))) (* (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))))) 4 (pow (cos (* phi2 0.5)) 2) (pow (cos (* 0.5 phi1)) 2) 2 2 2 2 (* (cos (* phi1 0.5)) (pow (cos (* phi2 0.5)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (cos (* 0.5 phi2))) (* (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (* (+ (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))) (expm1 (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (log1p (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (* 3 (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* 3 (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* 3 (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) 3 3 (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (* (cbrt 3) (cbrt 3))) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (sqrt 3)) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (pow (sin (* 0.5 phi2)) 3) (pow (sin (* phi1 0.5)) 3) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2) (* 3 (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (exp (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2) (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) (pow (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3) 3) (pow (sin (* 0.5 phi2)) 3) (pow (sin (* phi1 0.5)) 3) (pow (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) 3) 8 (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2) (sqrt (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (sqrt (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3)) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3/2) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3/2) (expm1 (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2)) (log1p (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2)) 2 2 2 2 (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2) 2 2 (* 2 (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* 2 (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* 2 (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* 2 (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (* 2 (log (* (sin (* phi2 0.5)) (sin (* phi1 0.5))))) (exp (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2)) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 6) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 6) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 6) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 6) (* (cbrt (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2)) (cbrt (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2))) (cbrt (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2)) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 6) (fabs (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (fabs (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1))))) 4 (pow (sin (* 0.5 phi2)) 2) (pow (sin (* phi1 0.5)) 2) 2 2 2 2 (* (pow (sin (* 0.5 phi2)) 2) (sin (* phi1 0.5))) (* (pow (sin (* phi1 0.5)) 2) (sin (* 0.5 phi2))) (* (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (* (- (cos (* 0.5 (- phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) (- 1 (* (fma phi2 phi2 (pow phi1 2)) 0.375)) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 3) (- 1 (* (fma phi2 phi2 (pow phi1 2)) 0.25)) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2) (pow (* (cos (* phi2 0.5)) (cos (* phi1 0.5))) 2) (- (* (pow phi1 3) (- (* 0.015625 (pow phi2 3)) (* 0.001953125 (pow phi2 5)))) (* 0.001953125 (* (pow phi2 3) (pow phi1 5)))) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 3) (- (* (pow phi2 2) (- (* (pow phi1 2) 0.0625) (* (pow phi1 4) 0.005208333333333333))) (* 0.005208333333333333 (* (pow phi2 4) (pow phi1 2)))) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2) (pow (* (sin (* phi2 0.5)) (sin (* phi1 0.5))) 2) 48.192 * * * [progress]: adding candidates to table 49.104 * [progress]: [Phase 3 of 3] Extracting. 49.104 * * [regime]: Finding splitpoints for: (# # # # # #) 49.116 * * * [regime-changes]: Trying 6 branch expressions: ((- lambda1 lambda2) phi2 phi1 lambda2 lambda1 R) 49.116 * * * * [regimes]: Trying to branch on (- lambda1 lambda2) from (# # # # # #) 49.190 * * * * [regimes]: Trying to branch on phi2 from (# # # # # #) 49.245 * * * * [regimes]: Trying to branch on phi1 from (# # # # # #) 49.298 * * * * [regimes]: Trying to branch on lambda2 from (# # # # # #) 49.386 * * * * [regimes]: Trying to branch on lambda1 from (# # # # # #) 49.458 * * * * [regimes]: Trying to branch on R from (# # # # # #) 49.533 * * * [regime]: Found split indices: #